Intelligent trajectory tracking control method for mobile robot
A mobile robot and trajectory tracking technology, applied in the control field, can solve the problems of difficult modeling of mobile robots, low feasibility, and the model cannot completely replace the nonlinear robot model, and achieve the effect of good trajectory tracking effect.
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[0059] In order to make the objects, technical solutions, and advantages of the present invention, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and actual experiments.
[0060] Refer Figure 1 - Figure 4 , A mobile robot's intelligent trajectory tracking control method, for a given mobile robot model, utilizing the convergence estimation weight of the least squares method; and updating the weight of the controller by introducing neural network and strengthening the policy iteration in the learning , Solve the optimal value function.
[0061] The intelligent trajectory tracking control method of the mobile robot of the present embodiment includes the following steps:
[0062] 1) Establish a nonlinear system of mobile robots;
[0063] 2) Initialize the status variable of the system and give initial strategy;
[0064] 3) Using the method of reintegration of learning strategies to update the weight, seek the...
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