Investigating Integral Reinforcement Learning to Achieve Asymptotic Stability in Underactuated Mechanical Systems

This letter introduces an innovative data-driven integral reinforcement learning (IRL) algorithm for the control of a class of underactuated mechanical systems. We propose a novel value function that allows shaping and learning the potential energy of an underactuated system and to drive it to a desired closed-loop potential energy. Consequently, we derive an actor-control policy that ensures asymptotic stability. In addition, we propose to parameterize the value function with a multi-layered perceptron (with 0, 1, and 2 hidden layers), exploring various parameter configurations. Eventually, we assess the performance of the proposed IRL through simulations and experimental results, thus confirming the practical effectiveness of the control design approach.