Hai Binh Nguyen

Time-Varying RISE-Based Reinforcement Learning for Tracking Control of a Mecanum Robot

This paper proposes a time-varying RISE-based reinforcement learning controller for trajectory tracking of a four-wheeled Mecanum mobile robot subject to center-of-mass offset, wheel slippage, and external disturbances. A sliding-variable formulation is first employed to transform the uncertain robot dynamics into a co...