Title :
Robust reinforcement learning-based tracking control for wheeled mobile robot
Author :
Luy, Nguyen Tan ; Thanh, Nguyen Duc ; Thanh, Nguyen Thien ; Ha, Nguyen Thi Phuong
Author_Institution :
Nat. Key Lab. for Digital Control & Syst. Eng., Hochiminh City Univ. of Technol., Ho Chi Minh City, Vietnam
Abstract :
This paper proposes a method to design a robust reinforcement learning-based tracking control scheme for the wheeled mobile robot. A policy iteration algorithm and a neural network are used to design an adaptive critic robust controller. A H¿ - tracking performance index optimal function is evaluated by this con troller. The stability of the closed-loop system while learning is proven by Lyapunov theory. The simulation results for wheeled mobile robot verify the effects of the proposed controller.
Keywords :
H¿ control; Lyapunov methods; adaptive control; closed loop systems; control engineering computing; control system synthesis; iterative methods; learning (artificial intelligence); mobile robots; neural nets; tracking; H¿-tracking performance index; Lyapunov theory; closed-loop system; neural network; robust reinforcement learning; tracking control; wheeled mobile robot; Adaptive control; Automatic control; Control systems; Learning; Mobile robots; Neural networks; Performance analysis; Programmable control; Robust control; Wheels; Adaptive critic; policy iteration; robust reinforcement learning; wheeled mobile robot;
Conference_Titel :
Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-5585-0
Electronic_ISBN :
978-1-4244-5586-7
DOI :
10.1109/ICCAE.2010.5451973
