Balance control of two-wheeled robot based on reinforcement learning - Details

Author：

Liang, Sun (Liang, Sun.) | Gan, Feimei (Gan, Feimei.)

Indexed by：

EI Scopus

Abstract：

Two-wheeled　robot　is　a　high-order,　non-stable,　non-linear,　typical　control　system.　This　paper　present　a　novel　reinforcement　learning　algorithm　to　balance　control　of　two-wheeled　robot,　when　its　model　is　not　available　and　the　agent　has　no　a　priori　control　knowledge.　And　it　constructs　performance　evaluation　function　by　using　neural　networks,　uses　their　own　neural　network　learn　online,　it　can　achieve　balance　control　of　self-learning　two-wheeled　robot.　The　simulation　results　demonstrate　that　it　can　successfully　achieve　self-learning　balance　control　of　two-wheeled　robot　System　in　a　short　time.　©　2011　IEEE.

Keyword：

Robots Reinforcement learning Machine learning Learning algorithms

Author Community：

[ 1 ] [Liang, Sun]Electronic Information and Control Engineering College, Beijing University of Technology, Beijing, China
[ 2 ] [Gan, Feimei]Electronic Information and Control Engineering College, Beijing University of Technology, Beijing, China

Reprint Author's Address：

Email：

sunliang@bjut.edu.cn

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