<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

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

Beijing University of Posts and Telecommunications

Applied Mathematics and Nonlinear Sciences

This work is licensed under the Creative Commons Attribution 4.0 International License.

{"article-title":"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....

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

Publié en ligne: 27 avr. 2021

Pages: 227 - 234

Reçu: 30 nov. 2020

Accepté: 31 janv. 2021

DOI: https://doi.org/10.2478/amns.2021.1.00038

Mots clés
learning control, support vector machine, mobile robot

© 2021 Yili Zheng et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

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

Publié en ligne: 27 avr. 2021

Pages: 227 - 234

Reçu: 30 nov. 2020

Accepté: 31 janv. 2021

DOI: https://doi.org/10.2478/amns.2021.1.00038

Mots cléslearning control, support vector machine, mobile robot

© 2021 Yili Zheng et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Mots clés
learning control, support vector machine, mobile robot