Mobile robot control based on hybrid neuro-fuzzy value gradient reinforcement learning

摘要

This paper uses value gradient learning (VGL) to track a reference trajectory under uncertainties, by computing the optimal left and right torque values for a nonholonomic mobile robot. VGL is a high-performance algorithm in adaptive dynamic programming (ADP). Here, it is used as a critic function after fitting a first-order Sugeno fuzzy neural network (FNN) structure to critic and actor networks. Moreover, this work handles the impacts of unmodeled bounded disturbances with various friction values. The simulation is introduced to compare two approaches. The first uses an actor network that confirms the ability of the mobile robot dynamic model to follow a desired trajectory. This approach demonstrates a significant enhancement of the robot's capability to absorb unstructured disturbance signals and friction effects. The second type of results use a critic-optimal-control approach, calculating the optimal control signal for the affine dynamic model of the robot. This completely removes the actor network to exploit reduced computational complexity with faster responses. The simulation is introduced to compare both cases.