Design and analysis of adaptive control systems: Adaptive control algorithms using machine learning

Abstract

A growing field of research is the use of adaptive control algorithms with machine learning techniques like Q-learning and SARSA. With prospective applications in robotics, healthcare, and other fields, this interdisciplinary method strives to combine the stability and robustness of conventional control systems with the self-learning skills of reinforcement learning. Making sure that systems are stable and that learning occurs effectively is the main research problem. This paper demonstrates the stability and convergence of existing adaptive control algorithms when integrating with machine learning. There are mainly four primary methods of control algorithms: reinforcement learning, neutral network, support vector machine and deep learning. Reinforcement learning is the main focus of this paper. Data efficiency, robustness, and generalization are the main problems with reinforcement learning. Q-learning and SARSA (State, Action, Reward, State, Action) are two algorithms for reinforcement learning. The research will be done by analyzing these two algorithms based on existing material and the actual application of these two algorithms. SARSA is believed to be more safe as its on-policy methodology, and Q-learning is believed to be more proactive as its off-policy methodology.