0% Complete
صفحه اصلی
/
سی و دومین کنفرانس بین المللی مهندسی برق
Adaptive dynamic programming for kinematic control of 3 interconnected wheeled mobile robots
نویسندگان :
Aliakbar Ghasemzadeh
1
Roya Amjadifard
2
Ali Keymasi Khalaji
3
1- دانشگاه خوارزمی
2- دانشگاه خوارزمی
3- دانشگاه خوارزمی
کلمات کلیدی :
3 IWMR،path tracking،adaptive dynamic programming،actor-critic neural networks
چکیده :
This paper proposes an adaptive dynamic programming (ADP) control approach for kinematic tracking of 3 interconnected wheeled mobile robots (IWMR). The kinematic model of the interconnected mobile robot system is derived. An affine form error system is then defined to facilitate the application of the ADP control method, which renders it a partially unknown control method. In particular, an actor-critic reinforcement learning (RL) neural network (NN) structure is employed, in which the critic NN approximates the value function. An adaptive learning method based on Hamiltonian error minimizes a predefined long-term cost function for updating the critic NN weights to guarantee their convergence to the ideal weights. Actors use these weights to provide control policies. This ADP control scheme is suitable for partially unknown affine systems. Simulation results demonstrate that the proposed ADP controller achieves accurate trajectory tracking for mobile robots. This significantly outperforms previous methods because the tracking error and control input are substantially reduced compared to other techniques. This study highlights the potential of ADP methods for complex nonlinear control problems in interconnected mobile robotic systems.
لیست مقالات
لیست مقالات بایگانی شده
Optimal Probability Placement of the Charge Station of Electric Vehicles in a Distributed Power Network Containing the DG using the Queuing Theory
Mohammadreza Mousavi khademi - Ebrahim Kazemi - Mehdi Zareian Jahromi
An Improved Authentication & Key Exchange Protocol Based on ECDH for WSNs
Sina Baghbanijam - Hanie Sanaei - Mahdi Farajzadeh
Design and Modelling of a Modified Controller for D-STATCOM Considering Parametric Uncertainties and Unmodeled Dynamics
Majid Arabahmadi - Hossein Khaligh - Amirhossein Moghani - Ali Mosallanejad
The Use of Additive Decomposition and Deep Neural Network for Photovoltaic Power Forecasting
Fariba Dehghan - Mohsen Parsa Moghaddam - Maryam Imani
Robot-Assisted Rehabilitation with Optimal Impedance: Using an $\mathcal{EKF}$-Based $\mathcal{L}asso-\mathcal{MPC}$
Hossein Ahmadian - Iman Sharifi - Heidar Ali Talebi
Three-Winding Coupled-Inductor-based Boost Converter with Voltage Multiplier Cell and Active Clamp Circuit for Low-Power Photovoltaic Application
Danesh Amani - Ali Valizadeh - Reza Beiranvand - Ali Yazdian Varjani
Dual-Polarized Broadband Folded Cross-Dipole Base Station Antenna
Farzad Alizadeh - Javad Nourinia - Changiz Ghobadi - Keyhan Hosseini - Hiwa Taha Sediq - Bahman Mohammadi
Plasmonic Refractive Index Sensor Using a Metal-Insulator-Metal Waveguide with a Disk-shaped Cavity and Silver Nanorod Defects
Mohammad Ghanavati - Mohammad-Azim Karami
تشخیص و مقیاس بندی شدت افسردگی براساس روشهای یادگیری ماشین و با استفاده از معیارهای خطی، غیرخطی و آماری محاسبه شده در سیگنالهای الکتروانسفالگرام
پریسا رئوف امامزاده هاشمی - وحید شالچیان - رضا رستمی
طراحی و ساخت چرخاننده سهدرگاهی صفحه E در موجبر باند X
زهرا عابدان - محمد حسین حسینی
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.5.3