Date of Original Version



Conference Proceeding

Abstract or Description

We investigate new approaches to dynamic-programming-based optimal control of continuous time-and-space systems. We use neural networks to approximate the solution to the Hamilton-Jacobi-Bellman (HJB) equation which is a first-order, nonlinear, partial differential equation. We derive the gradient descent rule for integrating this equation inside the domain, given the conditions on the boundary. We apply this approach to the “car-on-the-hill” which is a 2D highly nonlinear control problem. We discuss the results obtained and point out a low quality of approximation of the value function and of the derived control. We attribute this bad approximation to the fact that the HJB equation has many generalized solutions other than the value function, and our gradient descent method converges to one among these functions, thus possibly failing to find the correct value function. We illustrate this limitation on a simple 1D control problem


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Robotics Commons



Published In

International Joint Conference on Neural Networks.