关键词: 自动控制技术, 轮式移动机器人, 轨迹跟踪, 自适应模糊控制, 强化学习, 分流模型, 非完整系统

Abstract: A trajectory tracking method is proposed for three-order uncertain nonholonomic mobile robot with actuator dynamics based on backstepping technique and dual reinforcement learning adaptive fuzzy logic system. In this method, the shunting control technique is used to prevent the velocity jumps at the beginning of system for the motion controller. And the reinforcement learning adaptive fuzzy logic control is employed for both body dynamics and actuator dynamics, such that the unknown system uncertainties of parameters and non-parameters can be compensated optimally. Moreover, in order to enhance the control performance, the robust compensators are applied to eliminate the impact of unknown external disturbance and approximation error of fuzzy system. The stability and ultimately bounded convergence of control system are proven by Lyapunov theory. And the validity of this method is verified by the simulation results。

Key words: automatic control technology, wheeled mobile robot, trajectory tracking, adaptive fuzzy control, reinforcement learning, shunting model, nonholonomic system