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• W3155834701 abstract "The paper addresses the problem of effectively controlling a two-wheel robot given its inherent non-linearity and parameter uncertainties. In order to deal with the unknown and uncertain dynamics of the robot, it is proposed to employ the adaptive dynamic programming, a reinforcement learning based technique, to develop an optimal control law. It is interesting that the proposed algorithm does not require kinematic parameters while finding the optimal state controller is guaranteed. Moreover, convergence of the optimal control scheme is theoretically proved. The proposed approach was implemented in a synthetic two-wheel robot where the obtained results demonstrate its effectiveness." @default.
• W3155834701 created "2021-04-26" @default.
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• W3155834701 date "2021-04-28" @default.
• W3155834701 modified "2023-10-15" @default.
• W3155834701 title "Adaptive Dynamic Programming based Control Scheme for Uncertain Two-Wheel Robots" @default.
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• W3155834701 doi "https://doi.org/10.1109/icarsc52212.2021.9429805" @default.
• W3155834701 hasPublicationYear "2021" @default.
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