- Title
- Adaptive Dynamic Programming based Control Scheme for Uncertain Two-Wheel Robots
- Creator
- Van Nguyen, Thien; Le, Hai; Tran, Hoang; Nguyen, Duc; Nguyen, Minh; Nguyen, Linh
- Date
- 2021
- Type
- Text; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/177915
- Identifier
- vital:15364
- Identifier
-
https://doi.org/10.1109/ICARSC52212.2021.9429805
- Identifier
- ISBN:9781665431989 (ISBN)
- Abstract
- 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. © 2021 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Relation
- 2021 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021, 28 April 2021 through 29 April 2021 p. 111-116
- Rights
- All metadata describing materials held in, or linked to, the repository is freely available under a CC0 licence
- Rights
- Copyright © Copyright 2021
- Subject
- Adaptive control; Adaptive dynamic programming; Reinforcement learning; Two-wheel robot
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