Adaptive critic neural networks for identification of wheeled mobile robot

Authors:
Zenon Hendzel
Affiliations:
Department of Applied Mechanics and Robotics, Rzeszow University of Technology, Rzeszow, Poland
Venue:
ICAISC'06 Proceedings of the 8th international conference on Artificial Intelligence and Soft Computing
Year:
2006

Citing 4
Cited 0

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Abstract

A new applications of adaptive critic identifier for wheeled mobile robot is presented. In this approach the architecture of adaptive critic identifier contains a neural network (NN) based adaptive critic element (ACE) generating the reinforcement signal to tune the associative search element (ASE), which is applied to approximate nonlinear functions of the mobile robot. The proposed system identification that can guarantee tracking performance and stability is derived from the Lyapunov stability theory. Computer simulation have been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of wheeled mobile robot Pioneer-2DX.