Adaptive dynamic programming for trajectory tracking control of a tractor-trailer wheeled mobile robot

IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS IET Control Theory and Applications Pub Date : 2025-01-29 DOI:10.1049/cth2.12784
Aliakbar Ghasemzadeh, Roya Amjadifard, Ali Keymasi-Khalaji
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引用次数: 0

Abstract

Tractor-trailer wheeled mobile robots (TTWMRs) possess complex nonlinear dynamics that make their precise trajectory tracking control challenging. This paper explores an adaptive dynamic programming (ADP) approach that utilizes critic neural networks to improve tracking control for continuous-time TTWMRs. To achieve this, the decoupled kinematic and dynamic loops of the TTWMR are considered, and ADP controllers are proposed aimed at integrated trajectory and velocity tracking. Tis study defines two tracking error systems related to the kinematic and dynamic control loops, which reduces the computational load compared to previous research. The two critic neural networks approximate the optimal cost functions and enable the adaptive tuning of the control policies. Theoretical analysis demonstrates both closed-loop stability and convergence. Simulation results indicate that the proposed method offers superior tracking performance compared to earlier techniques, exhibiting lower errors and reduced control efforts. This underscores the advantages of using ADP to optimize the control of TTWMRs, even in the presence of partially unknown dynamics.

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来源期刊
IET Control Theory and Applications
IET Control Theory and Applications 工程技术-工程:电子与电气
CiteScore
5.70
自引率
7.70%
发文量
167
审稿时长
5.1 months
期刊介绍: IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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