Comparative Study of Q-Learning for State-Feedback LQG Control with an Unknown Model

摘要

We study the problem of designing a state feedback linear quadratic Gaussian (LQG) controller for a system in which the system matrices as well as the process noise covariance are unknown. We do a rigorous comparison between two approaches. The first is the classic one in which a system identification stage is used to estimate the unknown parameters, which are then used in a state-feedback LQG (SF-LQG) controller design. The second approach is a recently proposed one using a reinforcement learning paradigm called Q-learning. We do the comparison in terms of complexity and accuracy of the resulting controller. We show that the classic approach asymptotically efficient, giving virtually no room for improvement in terms of accuracy. We also propose a novel Q-learning-based method which we show asymptotically achieves the optimal controller design. We complement our proposed method with a numerically efficient algorithmic implementation aiming at making it competitive in terms of computations. Nevertheless, our complexity analysis shows that the classic approach is still numerically more efficient than this Q-learning-based alternative. We then conclude that the classic approach remains being the best choice for addressing the SF-LQG design in the case of unknown parameters.