Research on Motion Control for a Mobile Robot Using Learning Control Method

Precise motion control is a challenging and important goal in the application of mobile robots. The mechanical structure of a novel mobile robot is presented. Using the support vector machine learning control method in statistical theory, the human control strategy is represented by the parametric m...

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Bibliographic Details
Published in:Applied mathematics and nonlinear sciences 2021-01, Vol.6 (1), p.227-234
Main Authors: Zheng, Yili, Hu, Xueyang, Sun, Hanxu
Format: Article
Language:English
Subjects:
learning control
mobile robot
support vector machine
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Summary:Precise motion control is a challenging and important goal in the application of mobile robots. The mechanical structure of a novel mobile robot is presented. Using the support vector machine learning control method in statistical theory, the human control strategy is represented by the parametric model without knowledge of the actual robot mathematical model. Moreover, using the learning controller, the position motion control experiments of the robot are carried out. The results of the experiments show that this learning control method is feasible and valid for the precise position control of the mobile robot, and the maxim error is less than 32 cm in a 10 m linear movement.
ISSN:2444-8656
2444-8656
DOI:10.2478/amns.2021.1.00038