The University of Southampton
University of Southampton Institutional Repository

A Reinforcement Learning Approach to On-line Optimal Control

An, P.E., Aslam-Mir, S., Brown, M. and Harris, C.J. (1994) A Reinforcement Learning Approach to On-line Optimal Control At Int. Conf. on Neural Networks. , pp. 2465-2471.

Record type: Conference or Workshop Item (Other)


This paper presents a hybrid control architecture for solving on-line optimal control. In this architecture, the control law is dynamically scheduled between a reinforcement controller and a stabilizing controller so that the closed-loop performance is smoothly transformed from a reactive behavior to one which can predict. Based on a modified Q-learning technique, the reinforcement controller is made of two components: policy and Q functions. The policy function is explicitly incorporated so as to bypass the minimum operator normally required for selecting actions and updating the Q function. This architecture is then applied to a repetitive operation using a second-order linear-time-variant plant with a nonlinear control structure. In this operation, the reinforcement signals are based on set-point errors and the reinforcement controller is generalized using second-order B-Splines networks. This example illustrates how, for a non-optimally tuned stabilizing controller, the closed-loop performance can be bootstrapped with the use of reinforcement learning. Results shows that the set-point performance of the hybrid controller is improved over that of the fixed structure controller by discovering better control strategies which compensate for the non-optimal gains and nonlinear control structure.

Full text not available from this repository.

More information

Published date: 1994
Additional Information: Organisation: IEEE Address: Orlando, Fl
Venue - Dates: Int. Conf. on Neural Networks, 1994-01-01
Organisations: Southampton Wireless Group


Local EPrints ID: 250209
PURE UUID: 6908bbea-13cb-45d6-b110-5af913e12e0f

Catalogue record

Date deposited: 04 May 1999
Last modified: 18 Jul 2017 10:43

Export record


Author: P.E. An
Author: S. Aslam-Mir
Author: M. Brown
Author: C.J. Harris

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton:

ePrints Soton supports OAI 2.0 with a base URL of

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.