deluca.agents.Hinf¶
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class
deluca.agents.
Hinf
(*args, **kwargs)[source]¶ 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[source]¶ 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)
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__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[source]¶ Description: initializes the Hinf agent
- Parameters
A (jnp.ndarray) –
B (jnp.ndarray) –
T (jnp.ndarray) –
Q (jnp.ndarray) –
R (jnp.ndarray) –
- Returns
None
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