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Constraints Implementation in the Application of Reinforcement Learning to the Reactive Control of a Point Absorber

Anderlini, E; Forehand, DIM; Bannon, E; Abusara, M; (2017) Constraints Implementation in the Application of Reinforcement Learning to the Reactive Control of a Point Absorber. In: 2017 Proceedings of the ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering (OMAE2017). ASME

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Abstract

Here, least-squares policy iteration, a reinforcement learning algorithm, is applied to the reactive control of a wave energy converter for the first time. Simulations of a linear point absorber are used for this analysis. The focus of this study is on the implementation of displacement constraints. The use of a penalty term is effective in teaching the controller to avoid the selection of combinations of the damping and stiffness coefficients that would result in excessive displacements in particular sea states. However, the controller can learn that the actions are bad only after trying them, as shown by the simulations. For this reason, a lower-level control scheme is proposed, which changes the sign of the controller force based on the magnitude of the float displacement and sign of its velocity. Its effectiveness is proven in both regular and irregular waves, although greater care is required for the determination of soft constraints.

Type: Proceedings paper
Title: Constraints Implementation in the Application of Reinforcement Learning to the Reactive Control of a Point Absorber
Event: 36th ASME International Conference on Ocean, Offshore and Arctic Engineering
Location: Trondheim, NORWAY
Dates: 25 June 2017 - 30 June 2017
ISBN-13: 978-0-7918-5778-6
DOI: 10.1115/OMAE2017-61294
Publisher version: https://doi.org/10.1115/OMAE2017-61294
Language: English
Additional information: This is the published version of record. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10058899
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