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

摘要

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.