Policy Iteration-Output Feedback Adaptive Dynamic Programming Tracking Control for a Two-Wheeled Self Balancing Robot

This article discusses the trajectory tracking control requirement in a Two-Wheeled Self-Balancing Robot (TWSBR) with linearization and discretization after utilizing optimal control consideration. A proposed optimal control system that employs states observer to estimate state variables and Approximate/Adaptive Dynamic Programming (ADP) controller. The unification between tracking problem and output feedback ADP based optimal control design is guaranteed. Finally, simulation studies are used to validate the proposed control structure and demonstrate the performance of this control strategy.