轮式移动机器人鲁棒跟踪控制中的近似动态规划

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2023-11-06 DOI:10.24425/ame.2009.132098

Z. Hendzel, M. Szuster

{"title":"轮式移动机器人鲁棒跟踪控制中的近似动态规划","authors":"Z. Hendzel, M. Szuster","doi":"10.24425/ame.2009.132098","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Approximate dynamic programming in robust tracking control of wheeled mobile robot\",\"authors\":\"Z. Hendzel, M. Szuster\",\"doi\":\"10.24425/ame.2009.132098\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":1,\"journal\":{\"name\":\"Accounts of Chemical Research\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":16.4000,\"publicationDate\":\"2023-11-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Accounts of Chemical Research\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.24425/ame.2009.132098\",\"RegionNum\":1,\"RegionCategory\":\"化学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"CHEMISTRY, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.24425/ame.2009.132098","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 1

摘要

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.