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Globalised Dual Heuristic Dynamic Programming in Tracking Control of the Wheeled Mobile Robot

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Artificial Intelligence and Soft Computing (ICAISC 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8468))

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Abstract

The paper presents an application of the Approximate Dynamic Programming algorithm in Globalised Dual Heuristic Dynamic Programming configuration in the tracking control problem of the wheeled mobile robot Pioneer 2-DX. The Globalised Dual Heuristic Dynamic Programming algorithm is realised in the form of two structures, the actor and the critic, that can be implemented in the form of any adaptive algorithm, e.g. Artificial Neural Networks. The actor generates the suboptimal control law, the critic approximates the value function and its difference with respect to the states, what is equal to evaluation of the realised control law. The discrete tracking control system is composed of the Globalised Dual Heuristic Dynamic Programming algorithm, the PD controller and the supervisory term, which structure derives from the stability analysis realised using the Lapunov stability theorem. The proposed control system works on-line and its performance was verified using the wheeled mobile robot Pioneer 2-DX.

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Authors and Affiliations

  1. Department of Applied Mechanics and Robotics, Rzeszow University of Technology, 8 Powstancow Warszawy St., 35-959, Rzeszow, Poland

    Marcin Szuster

Authors
  1. Marcin Szuster
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Editor information

Editors and Affiliations

  1. Częstochowa University of Technology, Armii Krajowej 36, 42-200, Częstochowa, Poland

    Leszek Rutkowski  & Rafał Scherer  & 

  2. Częstochowa University of Technology, 42-200, Częstochowa, Poland

    Marcin Korytkowski

  3. AGH University of Science and Technology, Mickiewicza 30, 30-059, Kraków, Poland

    Ryszard Tadeusiewicz

  4. Computer Science Division, Department of Electrical Engineering and Computer Sciences, University of California Berkeley, 94720-1776, Berkeley, CA, USA

    Lotfi A. Zadeh

  5. Computational Intelligence Laboratory, Electrical and Computer Engineering, University of Louisville, 405 Lutz Hall, 40292, Louisville, KY, USA

    Jacek M. Zurada

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© 2014 Springer International Publishing Switzerland

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Szuster, M. (2014). Globalised Dual Heuristic Dynamic Programming in Tracking Control of the Wheeled Mobile Robot. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds) Artificial Intelligence and Soft Computing. ICAISC 2014. Lecture Notes in Computer Science(), vol 8468. Springer, Cham. https://doi.org/10.1007/978-3-319-07176-3_26

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  • DOI: https://doi.org/10.1007/978-3-319-07176-3_26

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-07175-6

  • Online ISBN: 978-3-319-07176-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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