Adaptive dynamic programming methods in control of wheeled mobile robot

• Autorzy: Hendzel Z. , Szuster M.
• Języki publikacji: EN

Abstrakty

EN

The control problem of nonlinear systems is a demanding task that requires application of complex methods. The development of artificial intelligence methods in recent years has made it possible to design control systems able to adapt parameters to changing or unknown parameters of the controlled object or process. In the article, a new approach to the tracking control problem of a wheeled mobile robot is presented. It uses the newest methods of artificial intelligence, such as adaptive dynamic programming algorithms, in the tracking control task. The proposed tracking control system is compared to the neural control system and the PD controller in a problem of the mobile robot tracking control. Laboratory tests of the proposed control systems were advances performed using the wheeled mobile robot Pioneer 2-DX and the computational environment that makes real time control and data acquisition possible. The proposed tracking control systems are stable and do not require the stage of preliminary learning of neural networks.

Słowa kluczowe

EN

adaptive dynamic programming; neural network; tracking control; wheeled mobile robot

PL

programowanie dynamiczne; sieci neuronowe; kołowy robot mobilny

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 3
• Strony: 837--851
• Opis fizyczny: Bibliogr. 14 poz., rys. tab., wykr.

Twórcy

autor

Hendzel Z.

autor

Szuster M.

• Rzeszów University of Technology 8 Powstancow Warszawy St., 35-959 Rzeszow, POLAND,

Bibliografia

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