Optimization Methods and Control Theory

SDDRE based nonlinear feedback construction in the tracking problem for a wheeled robot model

J. S. Belinskaya, D. A. Makarov

Federal Research Center «Computer Science and Control» of Russian Academy of Sciences, Moscow, Russia

Abstract: The article discusses the problem of constructing nonlinear feedback in the tracking problem for a wheeled robotic system. A special feature of the work is the formulation of a problem in which the reference trajectories of the system are known in advance, as well as a modification of a previously known algorithm based on the State-Dependent Differential Riccati Equation technique. Numerical experiments show that the proposed approach allows for a compromise between control quality and operating speed. (In Russian).

Key words and phrases: SDDRE technique, tracking task, two-wheeled robotic system.

UDC: 519.68: 007.52
BBK: 32.816

MSC: Primary 70B15; Secondary 93C85

Received: 11.11.2023
Accepted: 12.12.2023

DOI: 10.25209/2079-3316-2023-14-4-189-206