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In this paper, we proposed an algorithm used in feedback control of a wheeled mobile robot, based on approximate dynamic programming, in form of an actor-critic structure (ACE-ASE). An algorithm operates in discrete time, it uses parametric structure-actor (ASE) in form of neural network, to approximate nonlinear functions of mobile robot in control law, and critic (ACE) that generates rating of control...
The problems addressed in the thesis concern important and up-to-date issue of the mechatronic design of the robust control systems of follow-up motion of the mobile wheeled robots. In the thesis the synthesis of control algorithms based on stability theory of Lapunov was carried out along with simulation analysis of the three control algorithms of the follow-up motion of the mobile wheeled robot...
In this paper was introduced fuzzy-neural algorithm adaptation conclusions rule base, applied to approximation nonlinearity mobile circular robot. Computer simulation proposed solution was realized in emulator 2 circular mobile robot.
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