An Intelligent Non-Integer PID Controller-Based Deep Reinforcement Learning: Implementation and Experimental Results

摘要

In this article, a noninteger proportional integral derivative (PID)-type controller based on the deep deterministic policy gradient algorithm is developed for the tracking problem of a mobile robot. This robot system is a typical case of nonholonomic plants and is exposed to the measurement noises and external disturbances. To accomplish the control methodology, two control mechanisms are established independently: a kinematic controller (which is designed based on the kinematic model of the vehicle), and a dynamic controller (which is realized according to the physical specifications of the vehicle dynamics). In particular, an optimal noninteger PID controller is initially designed as the primary dynamic controller for the tracking problem of a nonholonomic wheeled mobile robot. Then, a DDPG algorithm with the actor-critic framework is established for the supplementary dynamic controller, which is beneficial to the tracking stabilization by adapting to the uncertainties and disturbances. This strategy implements the supplementary based control to compensate for what the original controller is unable to handle. A prototype of the WMR was also adopted to investigate the applicability of the suggested controller from a real-time platform perspective. The outcomes in experimental environments are presented to affirm the effectiveness of the suggested control methodology.