• Corpus ID: 241033326

A Self-adaptive LSAC-PID Approach based on Lyapunov Reward Shaping for Mobile Robots

@article{Yu2021ASL,
  title={A Self-adaptive LSAC-PID Approach based on Lyapunov Reward Shaping for Mobile Robots},
  author={Xinyi Yu and Siyu Xu and Yuehai Fan and Linlin Ou},
  journal={ArXiv},
  year={2021},
  volume={abs/2111.02283}
}
To solve the coupling problem of control loops and the adaptive parameter tuning problem in the multi-input multi-output (MIMO) PID control system, a self-adaptive LSAC-PID algorithm is proposed based on deep reinforcement learning (RL) and Lyapunovbased reward shaping in this paper. For complex and unknown mobile robot control environment, an RL-based MIMO PID hybrid control strategy is firstly presented. According to the dynamic information and environmental feedback of the mobile robot, the… 

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