Journal
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
Volume 10, Issue 1, Pages 90-102Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2023.123009
Keywords
Learning systems; Adaptation models; Adaptive systems; Heuristic algorithms; Brain modeling; Inference algorithms; Stability analysis; Experience inference; hippocampus learning system; linear time-variant (LTV) systems; neocortex; striatum learning systems; nonlinear systems; optimal control
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This paper proposes an experience inference human-behavior learning method to solve the migration problem of optimal controllers applied to real-world nonlinear systems. The method is inspired by the complementary properties of the hippocampus, the neocortex, and the striatum learning systems in the brain. The hippocampus defines a physics informed reference model of the real-world nonlinear system for experience inference, and the neocortex is the adaptive dynamic programming (ADP) or reinforcement learning (RL) algorithm that ensures optimal performance of the reference model.
Safety critical control is often trained in a simulated environment to mitigate risk. Subsequent migration of the biased controller requires further adjustments. In this paper, an experience inference human-behavior learning is proposed to solve the migration problem of optimal controllers applied to real-world nonlinear systems. The approach is inspired in the complementary properties that exhibits the hippocampus, the neocortex, and the striatum learning systems located in the brain. The hippocampus defines a physics informed reference model of the real-world nonlinear system for experience inference and the neocortex is the adaptive dynamic programming (ADP) or reinforcement learning (RL) algorithm that ensures optimal performance of the reference model. This optimal performance is inferred to the real-world nonlinear system by means of an adaptive neocor-tex/striatum control policy that forces the nonlinear system to behave as the reference model. Stability and convergence of the proposed approach is analyzed using Lyapunov stability theory. Simulation studies are carried out to verify the approach.
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