Control device and control method
AssigneePanasonic Intellectual Property Corporation of America
InventorMASASHI OKADA
Life of this patent
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Abstract
A control device for performing optimal control by path integral includes a neural network section including a machine-learned dynamics model and cost function, an input section that inputs a current state of a control target and an initial control sequence for the control target into the neural network section, and an output section that outputs a control sequence for controlling the control target, the control sequence being calculated by the neural network section by path integral from the current state and the initial control sequence by using the dynamics model and the cost function. Here, the neural network section includes a second recurrent neural network incorporating a first recurrent neural network including the dynamics model.
Claims7
A control device for performing optimal control by path integral, the control device comprising:
- a processor;
- and
- a non-transitory memory storing thereon a computer program, which when executed by the processor, causes the processor to perform operations including:
- inputting a current state of a control target and an initial control sequence being a control sequence having a plurality of control parameters for the control target as its components into a neural network including a machine-learned dynamics model and cost function;
- and
- outputting a control sequence for controlling the control target, the control sequence being calculated by the neural network by path integral from the current state and the initial control sequence by using the dynamics model and the cost function,
- wherein the neural network includes a first recurrent neural network and a second recurrent neural network,
- wherein the first recurrent neural network has the dynamics model,
- wherein the second recurrent neural network incorporates the first recurrent neural network.
A control method for use in a control device for performing optimal control by path integral, the control method comprising:
- inputting a current state of a control target and an initial control sequence being a control sequence having a plurality of control parameters for the control target as its components into a neural network including a machine-learned dynamics model and cost function;
- and
- outputting a control sequence for controlling the control target, the control sequence being calculated by the neural network by path integral from the current state and the initial control sequence by using the dynamics model and the cost function,
- wherein the neural network includes a first recurrent neural network and a second recurrent neural network,
- wherein the first recurrent neural network has the dynamics model,
- wherein the second recurrent neural network incorporates the first recurrent neural network.
Dependencies are inferred from the claim text.