A self‐adaptive SAC‐PID control approach based on reinforcement learning for mobile robots

DOI10.1002/RNC.5662zbMATH Open1529.93063arXiv2103.10686OpenAlexW3135940841MaRDI QIDQ6139916FDOQ6139916

Authors: Xinyi Yu, Linlin Ou 

Publication date: 19 December 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating environment is variable in real time. To tackle these problems, we propose a self-adaptive model-free SAC-PID control approach based on reinforcement learning for automatic control of mobile robots. A new hierarchical structure is developed, which includes the upper controller based on soft actor-critic (SAC), one of the most competitive continuous control algorithms, and the lower controller based on incremental PID controller. Soft actor-critic receives the dynamic information of the mobile robot as input, and simultaneously outputs the optimal parameters of incremental PID controllers to compensate for the error between the path and the mobile robot in real time. In addition, the combination of 24-neighborhood method and polynomial fitting is developed to improve the adaptability of SAC-PID control method to complex environments. The effectiveness of the SAC-PID control method is verified with several different difficulty paths both on Gazebo and real mecanum mobile robot. Futhermore, compared with fuzzy PID control, the SAC-PID method has merits of strong robustness, generalization and real-time performance.

Full work available at URL: https://arxiv.org/abs/2103.10686

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zbMATH Keywords

hierarchical structuremobile robotsreinforcement learningSAC-PID control

Mathematics Subject Classification ID

Feedback control (93B52) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• \({\mathcal Q}\)-learning
• Title not available (Why is that?)
• Reinforcement learning: a tutorial survey and recent advances

Cited In (4)

• A model free adaptive-robust design for control of robot manipulators: time delay estimation approach
• Parameter self-learning feedforward compensation-based active disturbance rejection for path-following control of self-driving forklift trucks
• Title not available (Why is that?)
• Discrete PID-type iterative learning control for mobile robot

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