OPTIMAL CONTROL OF A TWO-WHEELED SELF-BALANCING MOBILE ROBOT BASED ON ADAPTIVE DYNAMIC PROGRAMMING

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dc.citation.epage172
dc.citation.spage164
dc.citation.volume7
dc.contributor.authorStojanović, Vladimir
dc.contributor.authorĐorđević, Vladimir
dc.contributor.authorDubonjić, Ljubiša
dc.contributor.authorProdanović, Saša
dc.contributor.editorMarković, Biljana
dc.contributor.editorMilutinović, Miroslav
dc.contributor.editorMilić, Davor
dc.date.accessioned2024-12-10T09:27:55Z
dc.date.available2024-12-10T09:27:55Z
dc.date.issued2024-11
dc.description.abstractThis paper considers optimal tracking control for a two-wheeled selfbalancing mobile robot with unknown dynamics. The aim is to achieve asymptotic tracking and disturbance rejection by minimizing some predefined performance index. Through the combination of adaptive dynamic programming (ADP) and internal model principle, an approximate optimal controller is iteratively learned online using measurable input/output data. Unmeasurable states are also reconstructed from input/output data. The discrete-time algebraic Riccati equation is iteratively solved by ADP approach. Simulation results demonstrate the feasibility and effectiveness of the proposed approach.
dc.identifier.isbn978-99976-085-2-9
dc.identifier.urihttps://vaseljena.ues.rs.ba/handle/123456789/1384
dc.language.isoen
dc.publisherUniversity of East Sarajevo, Faculty of Mechanical Engineering
dc.sourceProceedings, International Scientific Conference "Conference on Mechanical Engineering Technologies and Applications" COMETa
dc.subjectAdaptive dynamic programming, Adaptive optimal control, two-wheeled self-balancing mobile robot, Unknown dynamics, Algebraic Riccati equation
dc.titleOPTIMAL CONTROL OF A TWO-WHEELED SELF-BALANCING MOBILE ROBOT BASED ON ADAPTIVE DYNAMIC PROGRAMMING
dc.typeArticle
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