Model-based controller assisted domain randomization in deep reinforcement learning: application to nonlinear powertrain control

원문 초록

Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling and calibration errors are therefore unavoidable, making the transfer of control systems from simulation to real-world systems a critical challenge. Traditional robust controls have limitations in handling certain types of nonlinearities and uncertainties, requiring a more practical approach capable of comprehensively compensating for these various constraints. This study proposes a new robust control approach using the framework of deep reinforcement learning (DRL). The key strategy lies in the synergy among domain randomization-based DRL, long short-term memory (LSTM)-based actor and critic networks, and model-based control (MBC). The problem setup is modeled via the latent Markov decision process (LMDP), a set of vanilla MDPs, for a controlled system subject to uncertainties and nonlinearities. In LMDP, the dynamics of an environment simulator is randomized during training to improve the robustness of the control system to real testing environments. The randomization increases training difficulties as well as conservativeness of the resultant control system; therefore, progress is assisted by concurrent use of a model-based controller based on a nominal system model. Compared to traditional DRL-based controls, the proposed controller design is smarter in that we can achieve a high level of generalization ability with a more compact neural network architecture and a smaller amount of training data. The proposed approach is verified via practical application to active damping for a complex powertrain system with nonlinearities and parametric variations. Comparative tests demonstrate the high robustness of the proposed approach.