Robot tracking control algorithm based on cerebella model articulation controller adaptive critics and strategists method
一种基于小脑模型关节控制器评论-策略家的机器人跟踪控制算法

The adaptive critic and associative search algorithm based on cerebella model articulation controller(CMAC) is presented and the corresponding controller without referring to the system model is designed to solve the tracking problem of the robot. The controller consists of the position tracking controller and the angular tracking controller; the outputs of which are linear velocity and angular velocity. Either the position tracking controller or the angular tracking controller includes the associative search unit and the adaptive critic unit. Both units are based on the CMAC algorithm and employ the modified ±-learning rule for adjusting online the weight values. The associative search unit is the main part of the controller; and the adaptive critic unit adjusts the learning speed of associative search CMAC. A two-wheeledmotor mobile robot is taken as the example in simulations. Compared with the fixed learning speed CMAC, the proposed controller provides faster tracking response, better adaptive ability and wider parameter range, and is independent of the model.