Discrete Model-Based Adaptive Critic Designs in Wheeled Mobile Robot Control

  • Zenon Hendzel
  • Marcin Szuster
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6114)


In this paper a discrete tracking control algorithm for a non-holonomic two–wheeled mobile robot (WMR) is presented. The basis of the control algorithm is an Adaptive Critic Design (ACD) in two model-based configurations: Heuristic Dynamic Programming (HDP) and Dual Heuristic Programming (DHP). In proposed control algorithm Actor–Critic structure, composed of two neural networks (NN), is supplied by a PD controller and a supervisory term derived from the Lyapunov stability theorem. The control algorithm works on-line and does not require preliminary learning. Verification of the proposed control algorithm was realized on a WMR Pioneer–2DX.


Approximate Dynamic Programming Dual Heuristic Programming Heuristic Dynamic Programming Neural Networks Tracking Control Wheeled Mobile Robots 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Zenon Hendzel
    • 1
  • Marcin Szuster
    • 1
  1. 1.Department of Applied Mechanics and RoboticsRzeszów University of TechnologyRzeszówPoland

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