Doan Cong Anh

Residual RL on a PSO-tuned Fuzzy Controller for Mobile Robot Trajectory Tracking

This paper presents a two-wheeled mobile robot trajectory-tracking controller combining a particle swarm optimization (PSO)-tuned fuzzy logic controller (FLC) with a residual reinforcement learning (RL) correction layer.PSO tuning reduces the global distance error by 35% and the integral absolute error by 44% over the...