deluca.agents.Hinf

class deluca.agents.Hinf(*args, **kwargs)

Hinf: H-infinity controller (approximately). Solves a lagrangian min-max dynamic program similiar to H-infinity control rescales disturbance to have norm 1.

Public Data Attributes:

Inherited from JaxObject

name
attrs

Public Methods:

__init__(A, B, T[, Q, R])	Description: initializes the Hinf agent
train(A, B, T)
__call__(state)	Description: provide an action given a state

Inherited from Agent

__init_subclass__(*args, **kwargs)	For avoiding a decorator for each subclass
__call__(state)	Description: provide an action given a state
reset()
feed(reward)

Inherited from JaxObject

__new__(cls, *args, **kwargs)	For avoiding super().__init__()
__init_subclass__(*args, **kwargs)	For avoiding a decorator for each subclass
__str__()	Return str(self).
__setattr__(key, val)	Implement setattr(self, name, value).
save(path)
load(path)
throw(err, msg)

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__call__(state) → jax._src.numpy.lax_numpy.ndarray

Description: provide an action given a state

Parameters

state (jnp.ndarray) – the error PID must compensate for

Returns

action to take

Return type

action (jnp.ndarray)

__init__(A: jax._src.numpy.lax_numpy.ndarray, B: jax._src.numpy.lax_numpy.ndarray, T: jax._src.numpy.lax_numpy.ndarray, Q: jax._src.numpy.lax_numpy.ndarray = None, R: jax._src.numpy.lax_numpy.ndarray = None) → None

Description: initializes the Hinf agent

Parameters

• A (jnp.ndarray) –

• B (jnp.ndarray) –

• T (jnp.ndarray) –

• Q (jnp.ndarray) –

• R (jnp.ndarray) –

Returns

None