From 9bb0954de142bafef5434bcff371bd5cfcb3ba0a Mon Sep 17 00:00:00 2001 From: Amerik Singh Date: Tue, 1 Oct 2024 21:12:39 +0200 Subject: [PATCH] OA: RL PID Controller (SISO) #1050 --- .../control/controllers/oa_pid_controller.py | 47 ++----------------- 1 file changed, 4 insertions(+), 43 deletions(-) diff --git a/src/mlpro/oa/control/controllers/oa_pid_controller.py b/src/mlpro/oa/control/controllers/oa_pid_controller.py index 38cd36465..f3943d4fc 100644 --- a/src/mlpro/oa/control/controllers/oa_pid_controller.py +++ b/src/mlpro/oa/control/controllers/oa_pid_controller.py @@ -1,20 +1,7 @@ from mlpro.bf.control.controllers.pid_controller import PIDController from mlpro.bf.ml.basics import * -from mlpro.bf.streams import InstDict -from mlpro.rl import Policy, FctReward -#from mlpro.oa.control.basics import OAController -from mlpro.bf.math.basics import Log,Set,MSpace,Dimension -from mlpro.bf.mt import Log, Task -from mlpro.bf.systems import Action -from mlpro.bf.control.basics import ControlError, Controller, SetPoint -from mlpro.bf.systems.basics import ActionElement, State -from mlpro.bf.various import Log -from mlpro.bf.streams import InstDict, Instance -from mlpro.rl.models_env_ada import SARSElement -from mlpro_int_sb3.wrappers.basics import WrPolicySB32MLPro -from stable_baselines3 import A2C, PPO, DQN, DDPG - - +from mlpro.rl import Policy,SARSElement +from mlpro.bf.systems import Action, State class RLPID(Policy): @@ -26,12 +13,7 @@ def __init__(self, p_observation_space: MSpace, p_action_space: MSpace,pid_contr self._policy = policy self._old_action = None #None self._action_space = p_action_space - """ - policy_sb3 = WrPolicySB32MLPro( - PPO(policy="MlpPolicy",n_steps=5,env=None,_init_setup_model=False,device="cpu") - ,p_cycle_limit=30,p_observation_space= p_observation_space - ,p_action_space=p_action_space,p_ada=p_ada) - """ + ## ------------------------------------------------------------------------------------------------- def _init_hyperparam(self, **p_par): @@ -140,26 +122,5 @@ def compute_action(self, p_obs: State) -> Action: action=self._pid_controller.compute_action(p_ctrl_error=p_obs) #return action - return action - - - - - - - - - - - - - - - - - - - - - + return action