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《Computer Engineering and Applications》 2005-08
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A Reinforcement Learning Algorithm Based on Recursive Least-squares Methods

Shen Zhipeng1 Guo Chen1,21(Lab of Simulation and Control of Navigation Systems,Dalian Maritime University,Dalian 116026)2(State Key Laboratory of Intelligent Technology and System,Tsinghua University,Beijing 100084)  
Recursive least-squares temporal difference algorithm(RLS-TD) is deduced,which uses data more efficiently,quickens convergence and lessens computational burden compared to conventional temporal difference algorithm.Reinforcement learning based on recursive least-squares methods is applied to ship steering control,as provides an efficient way for the improvement of ship steering control performance.It removes the defect that the conventional intelligent algorithm learning must be provided with some sample data.The parameters of controller are on-line learned and adjusted.It can solve the uncertainty of ship control in a way.Simulation results show that the ship course can be properly controlled under the disturbances of wave,wind,current and error in measure apparatus,and demonstrate the algorithm is feasible.
【Fund】: 交通部优秀专业人才资助项目(编号:95-05-05-32);; 清华大学智能技术与系统国家重点实验室开放研究课题基金项目(编号:0107)
【CateGory Index】: TP18
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1 ShenZhipengGuoChen(LabofSimulationandControlofNavigationSystems,DalianMaritimeUniversity,Dalian116026);Research and Application on a Hybrid Learning Algorithm[J];Computer Engineering and Applications;2003-14
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