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Adaptive Dynamic Programming based Control Scheme for Uncertain Two-Wheel Robots

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posted on 17.04.2021, 12:33 by Linh NguyenLinh Nguyen
The paper addresses the problem of effectively controlling a two-wheel robot given its inherent non-linearity and parameter uncertainties. In order to deal with the unknown
and uncertain dynamics of the robot, it is proposed to employ the adaptive dynamic programming, a reinforcement learning based technique, to develop an optimal control law. It is interesting that the proposed algorithm does not require kinematic parameters while finding the optimal state controller is guaranteed. Moreover, convergence of the optimal control scheme is theoretically proved. The proposed approach was implemented in a synthetic
two-wheel robot where the obtained results demonstrate its
effectiveness.

History

Email Address of Submitting Author

l.nguyen@federation.edu.au

Submitting Author's Institution

Federation University Australia

Submitting Author's Country

Australia