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Abstract

In this work, a novel approach to designing an on-line tracking controller for a nonholonomic wheeled mobile robot (WMR) is presented. The controller consists of nonlinear neural feedback compensator, PD control law and supervisory element, which assure stability of the system. Neural network for feedback compensation is learned through approximate dynamic programming (ADP). To obtain stability in the learning phase and robustness in face of disturbances, an additional control signal derived from Lyapunov stability theorem based on the variable structure systems theory is provided. Verification of the proposed control algorithm was realized on a wheeled mobile robot Pioneer–2DX, and confirmed the assumed behavior of the control system.

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Authors and Affiliations

Zenon Hendzel
Marcin Szuster
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Abstract

The paper presents the results of experimental verification on using a zero-sum differential game and H control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.
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Authors and Affiliations

Zenon Hendzel
1
ORCID: ORCID
Paweł Penar
1

  1. Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, ul. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

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