Online Series-Parallel Reinforcement-Learning-Based Balancing Control for Reaction Wheel Bicycle Robots on a Curved Pavement
نویسندگان
چکیده
The reaction wheel bicycle robot is a kind of unmanned mobile with great potential. However, the control such robots on curved pavement under inaccurate model parameters, uncertainties and disturbances challenging due to lateral instability udneractuated characteristic. Applying conventional methods this problem often results in brittle controllers. In paper, an online serial-parallel combination reinforcement learning designed achieve path tracking banlancing for pavements. parallel part controller refers compensate equilibrium point serial adjust parameters sliding mode that tracks target roll point. comparison between proposed several existing controllers experimental test built Matlab Simscape illustrates stronger robustness better performances.
منابع مشابه
LQR and MPC controller design and comparison for a stationary self-balancing bicycle robot with a reaction wheel
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2023
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2023.3268524