Toward human-in-the-loop PID control based on CACLA reinforcement learning

Junpei Zhong (Corresponding Author), Yanan Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


A self-tuning PID control strategy using a reinforcement learning method, called CACLA (Continuous Actor-critic Learning Automata) is proposed in this paper with the example application of human-in-the-loop physical assistive control. An advantage of using reinforcement learning is that it can be done in an online manner. Moreover, since human is a time-variant system. The demonstration also shows that the reinforcement learning framework would be beneficial to give semi-supervision signal to reinforce the positive learning performance in any time-step.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
EditorsHaibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
PublisherSpringer Verlag
Number of pages9
ISBN (Print)9783030275341
Publication statusPublished - 2 Aug 2019
Externally publishedYes
Event12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China
Duration: 8 Aug 201911 Aug 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11742 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference12th International Conference on Intelligent Robotics and Applications, ICIRA 2019


  • Adaptive control
  • Human-in-the-loop
  • Reinforcement learning

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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