轮式移动机器人鲁棒跟踪控制中的近似动态规划

IF 1.2 Q3 ENGINEERING, MECHANICAL Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI:10.24425/ame.2009.132098

Z. Hendzel, M. Szuster

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Approximate dynamic programming in robust tracking control of wheeled mobile robot

In this work, a novel approach to designing an on-line tracking controller for a nonholonomic wheeled mobile robot (WMR) is presented. The controller consists of nonlinear neural feedback compensator, PD control law and supervisory element, which assure stability of the system. Neural network for feedback compensation is learned through approximate dynamic programming (ADP). To obtain stability in the learning phase and robustness in face of disturbances, an additional control signal derived from Lyapunov stability theorem based on the variable structure systems theory is provided. Veriﬁcation of the proposed control algorithm was realized on a wheeled mobile robot Pioneer–2DX, and conﬁrmed the assumed behavior of the control system.

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来源期刊

Archive of Mechanical Engineering ENGINEERING, MECHANICAL-

CiteScore

1.70

自引率

14.30%

发文量

审稿时长

15 weeks

期刊介绍： Archive of Mechanical Engineering is an international journal publishing works of wide significance, originality and relevance in most branches of mechanical engineering. The journal is peer-reviewed and is published both in electronic and printed form. Archive of Mechanical Engineering publishes original papers which have not been previously published in other journal, and are not being prepared for publication elsewhere. The publisher will not be held legally responsible should there be any claims for compensation. The journal accepts papers in English.

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