ADP-Based $\mathcal {H}_{\boldsymbol{\infty }}$ Optimal Decoupled Control of Single-Wheel Robots With Physically Coupling Effects, Input Constraints, and Disturbances.
Luy Nguyen TanDuc Lam GiaPublished in: IEEE Trans. Ind. Electron. (2024)
Keyphrases
- optimal control
- motion control
- robot control
- autonomous robots
- mobile robot
- autonomous systems
- cooperative
- robotic systems
- wheeled mobile robots
- control system
- wheel slip
- constraint satisfaction
- industrial robots
- control policy
- physical constraints
- closed form
- reducing the search space
- reinforcement learning
- optimality criteria
- indirect effects
- robot behavior
- unstructured environments
- control signals
- distributed control
- dynamic programming
- linear constraints
- worst case
- control strategy