Creation and Compression of Global Control Policy for Swinging up Control of the Acrobot
Ryuichi Ueda, Tamio Arai, Kojiro Matsushita · 2006
The Acrobot is an underactuated robot and provides challenging control problems due to its nonlinearity. We try creating global control policies depending on the limitation of memory that is available for recording them. A swinging up task of the Acrobot is solved by dynamic programming (DP) without heuristics. The result of DP is compressed to an arbitrary size of control policy by our vector quantization (VQ) method. A chaotic but performable control policy can be obtained in the global state space of the Acrobot by DP. Moreover, we can verify that our VQ algorithm can reduce the dimension of the control policy from four to two in the process of compression