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Adaptive self-learning controllers with disturbance compensation for automatic track guidance of industrial trucks

  • This paper presents an extended control concept for automatic track guidance of industrial trucks in intralogistic systems. It is based on Reinforcement Learning (RL), a method of Artificial Intelligence (AI). The presented approach is able to adapt itself to different industrial truck variants and to the associated specific vehicle parameters. In order to avoid starting the whole training of the controller for each truck variant from scratch, the training process is divided into two steps. In the first step, the controller is trained on a simplified linear model using parameters of a nominal vehicle variant. Based on this, the control parameters are only fine-tuned in the second step using a more complex nonlinear model, representing the real industrial truck. In this way, the controller is adapted to the actual truck variant and the corresponding parameter values. By using the nonlinear model, it can be ensured that the forklift’s dynamic is approximated within the entire operating range, even at high steering angles. Moreover, the influence of the disturbance variable of the system (path curvature) is compensated by considering this a priori knowledge within the control design. Therefore, the Artificial Neural Networks (ANN) of the RL controller and the observation vector are suitably adjusted. In this way, the occurring path curvatures can be considered in both training steps and the control parameters can be optimized accordingly. Thus, the influence of the disturbance variable can be compensated, which significantly improves the control quality. In order to demonstrate this, the new approach is compared to an RL control concept, which is not considering the disturbance variable and to a classical two-degrees-of-freedom (2DoF) control approach.

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Metadaten
Author:Timm Sauer, Manuel Gorks, Luca Spielmann, Klaus Zindler, Ulrich Jumar
DOI:https://doi.org/10.1080/18824889.2023.2183009
Parent Title (English):SICE Journal of Control, Measurement and System Integration
Document Type:Article
Language:English
Year of Completion:2023
Release Date:2023/03/13
GND Keyword:Flurförderer; Spurführung; Künstliche Intelligenz
Volume:2023
Issue:Vol. 16, No. 1
First Page:84
Last Page:97
Urheberrecht:1
Institutes:Fakultät Ingenieurwissenschaften / Labore / Simulation, Steuerung und Regelung
research focus :Intelligent Systems / Intelligent Mobility
Licence (German):Keine Lizenz - es gilt das deutsche Urheberrecht
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