Safe Controller for Output Feedback Linear Systems using Model-Based Reinforcement Learning

no code implementations • 4 Apr 2022 • S M Nahid Mahmud, Moad Abudia, Scott A Nivison, Zachary I. Bell, Rushikesh Kamalapurkar

Safe model-based reinforcement learning techniques based on a barrier transformation have recently been developed to address this problem.

Model-based Reinforcement Learning reinforcement-learning +1

Safety aware model-based reinforcement learning for optimal control of a class of output-feedback nonlinear systems

no code implementations • 1 Oct 2021 • S M Nahid Mahmud, Moad Abudia, Scott A Nivison, Zachary I. Bell, Rushikesh Kamalapurkar

The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical.

Model-based Reinforcement Learning reinforcement-learning +1

Safe Model-Based Reinforcement Learning for Systems with Parametric Uncertainties

no code implementations • 24 Jul 2020 • S M Nahid Mahmud, Scott A Nivison, Zachary I. Bell, Rushikesh Kamalapurkar

In recent years, reinforcement learning approaches that rely on persistent excitation have been combined with a barrier transformation to learn the optimal control policies under state constraints.

Model-based Reinforcement Learning reinforcement-learning +2