عنوان انگلیسی مقاله:
An adaptive deep reinforcement learning approach for MIMO PID control of mobile robots
ترجمه فارسی عنوان مقاله:
یک رویکرد یادگیری تقویتی عمیق سازگار برای کنترل MIMO PID ربات های موبایل
Sciencedirect - Elsevier - ISA Transactions, 102 (2020) 280-294. doi:10.1016/j.isatra.2020.02.017
Ignacio Carlucho, Mariano De Paula ∗, Gerardo G. Acosta
Intelligent control systems are being developed for the control of plants with complex dynamics.
However, the simplicity of the PID (proportional–integrative–derivative) controller makes it still widely
used in industrial applications and robotics. This paper proposes an intelligent control system based on
a deep reinforcement learning approach for self-adaptive multiple PID controllers for mobile robots.
The proposed hybrid control strategy uses an actor–critic structure and it only receives low-level
dynamic information as input and simultaneously estimates the multiple parameters or gains of the PID
controllers. The proposed approach was tested in several simulated environments and in a real time
robotic platform showing the feasibility of the approach for the low-level control of mobile robots.
From the simulation and experimental results, our proposed approach demonstrated that it can be
of aid by providing with behavior that can compensate or even adapt to changes in the uncertain
environments providing a model free unsupervised solution. Also, a comparative study against other
adaptive methods for multiple PIDs tuning is presented, showing a successful performance of the
Keywords: Reinforcement learning | Adaptive control | Policy gradient | Mobile robots | Multi-platforms