An optimal control strategy is proposed to find the state feedback, optimal control solution of three-wheeled omnidirectional mobile robot systems online in this paper. An algebraic Riccati equation (ARE) is solved based on the algorithm without requiring the knowledge of the system’s internal dynamics. The policy iteration (PI) algorithm repeatedly operates the policy evaluation and policy improvement steps until the performance of the mobile robot system is not improved. The PI algorithm converges to the optimal control solution of the wheeled mobile robot system in the end. The efficiency of the proposed algorithm is shown when finding the optimal controller for the mobile robot system.
Online Optimal Control of Three-Wheeled Omnidirectional Mobile Robot Using Policy Iteration
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 170 ; 1728-1738
2022-03-18
11 pages
Article/Chapter (Book)
Electronic Resource
English
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