Adaptive Partial Reinforcement Learning Neural Network-Based Tracking Control for Wheeled Mobile Robotic Systems

In this paper, a dynamic model of a wheeled mobile robotic (WMR) system with coupled control input is developed, which will increase the complexity of its tracking control with time-varying advance angle. To deal with this problem, a partial reinforcement learning neural network (PRLNN)-based tracki...

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Bibliographic Details
Published inIEEE transactions on systems, man, and cybernetics. Systems Vol. 50; no. 7; pp. 2512 - 2523
Main Authors Ding, Liang, Li, Shu, Gao, Haibo, Chen, Chao, Deng, Zongquan
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Adaptive systems
Algorithms
Approximation algorithms
Artificial neural networks
Computer simulation
Control algorithms
Control theory
Design parameters
Dynamic models
Learning (artificial intelligence)
Machine learning
Mobile robots
neural network (NN)
Neural networks
Nonlinear systems
partial reinforcement learning
Stability analysis
tracking
Tracking control
Tracking errors
wheeled mobile robots (WMRs)
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Summary:In this paper, a dynamic model of a wheeled mobile robotic (WMR) system with coupled control input is developed, which will increase the complexity of its tracking control with time-varying advance angle. To deal with this problem, a partial reinforcement learning neural network (PRLNN)-based tracking algorithm is proposed for the WMR systems. The main contributions of the PRLNN adaptive tracking control method is that it is the first control method to introduce the PRLNN adaptive control to the WMR system, which determines to solve the WMR tracking control with the time-varying advance angle. The critic neural network (NN) and action NN adaptive laws for the decoupled controllers are designed using the standard gradient-based adaptation method. According to the Lyapunov stability analysis theorem, the uniform ultimate boundedness of all signals in the WMR system can be guaranteed with the design parameters chose properly, and the tracking error converge to a small compact set nearby zero. A numerical simulation is presented to verify the effectiveness of the proposed control algorithm.
ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2018.2819191