Optimization Methods and Control Theory
Research Article
SDDRE based nonlinear feedback construction in the tracking problem for a wheeled robot model
Yulia Sergeevna Belinskaya1, Dmitry Alexandrovich Makarov2
Federal Research Center "Computer Science and Control" of RAS, Moscow, Russia| 2 |
makarov@isa.ru |
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).
Keywords: SDDRE technique, tracking task, two-wheeled robotic system
MSC-2020
70B15; 93C85
Acknowledgments: The study was supported by the Russian Science Foundation grant No. 22-21-00716
For citation: Yulia S. Belinskaya, Dmitry A. Makarov. SDDRE based nonlinear feedback construction in the tracking problem for a wheeled robot model. Program Systems: Theory and Applications, 2023, 14:4, pp. 189–206. (In Russ.). https://psta.psiras.ru/2023/4_189-206.
Full text of article (PDF): https://psta.psiras.ru/read/psta2023_4_189-206.pdf.
The article was submitted 11.11.2023; approved after reviewing 11.12.2023; accepted for publication 12.12.2023; published online 31.12.2023.
