Email this article SDDRE based nonlinear feedback construction in the tracking problem for a wheeled robot model
- Authors: Belinskaya Y.S.1, Makarov D.A.1
-
Affiliations:
- Federal Research Center "Computer Science and Control" of RAS
- Issue: Vol 14, No 4 (2023)
- Pages: 189-206
- Section: Articles
- URL: https://journals.rcsi.science/2079-3316/article/view/259993
- DOI: https://doi.org/10.25209/2079-3316-2023-14-4-189-206
- ID: 259993
Cite item
Full Text
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.
About the authors
Yulia Sergeevna Belinskaya
Federal Research Center "Computer Science and Control" of RAS
Author for correspondence.
Email: belinskaya.us@gmail.com
ORCID iD: 0000-0002-4136-7912
INFO
Dmitry Alexandrovich Makarov
Federal Research Center "Computer Science and Control" of RAS
Email: makarov@isa.ru
ORCID iD: 0000-0001-8930-1288
Senior Researcher, Federal Research Center Institute of Control of the Russian Academy of Sciences, Candidate of Physical and Mathematical Sciences. Number of published works: more than 70. Area of scientific interests: methods of synthesis of nonlinear feedbacks, singularly perturbed systems, artificial intelligence, robotics
References
- Nekoo S. R.. “Tutorial and review on the state-dependent Riccati equation”, Journal of Applied Nonlinear Dynamics, 8:2 (2019), pp. 109–166.
- {Ç}imen T.. “Survey of state-dependent Riccati equation in nonlinear optimal feedback control synthesis”, Journal of Guidance, Control, and Dynamics, 35:4 (2012), pp. 1025–1047.
- Cloutier J. R.. “State-dependent Riccati equation techniques: an overview”, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041). 2 (Albuquerque, NM, USA, 6 June 1997), IEEE, 1997, ISBN 0-7803-3832-4, pp. 932–936.
- Heydari A., Balakrishnan S. N.. “Path planning using a novel finite horizon suboptimal controller”, Journal of guidance, control, and dynamics, 36:4 (2013), pp. 1210–1214.
- Heydari A., Balakrishnan S. N.. “Closed-form solution to finite-horizon suboptimal control of nonlinear systems”, International Journal of Robust and Nonlinear Control, 25:15 (2015), pp. 2687–2704.
- Naidu D. S., Paul S., Khamis A., Rieger C. R.. “A simplified SDRE technique for finite horizon tracking problem in optimal control systems”, 2019 Sixth Indian Control Conference (ICC) (Hyderabad, India, 18–20 December 2019), 2019, pp. 170–175.
- Khamis A., Naidu D. S.. “Recent results on nonlinear, optimal regulation and tracking: theory and applications”, WSEAS Transactions on Systems, 15 (2016), pp. 94–101, 11.
- Дмитриев М. Г., Макаров Д. А.. «Гладкий нелинейный регулятор в слабо нелинейной системе управления с коэффициентами, зависящими от состояния», Труды института системного анализа Российской академии наук, 64:4 (2014), с. 53–58.
- Макаров Д. А.. «Подход к построению нелинейного управления в задаче слежения с коэффициентами, зависящими от состояния. Часть I. Алгоритм», ИТиВС, 2017, №3, с. 10–19.
- Макаров Д. А.. «Построение управления и наблюдателя в слабо нелинейной задаче слежения с помощью дифференциальных матричных уравнений Риккати», ИТиВС, 2018, №4, с. 63–71.
- Макаров Д. А., Хачумов М. В.. «Синтез в слабо нелинейной задаче управления на основе SDRE техники на конечном интервале», ИТиВС, 2020, №4, с. 17–25.
- Korayem M. H., Nekoo S. R., Korayem A. H.. “Finite time SDRE control design for mobile robots with differential wheels”, Journal of Mechanical Science and Technology, 30:9 (2016), pp. 4353–4361.
- Макаров Д. А.. «Приближенное решение задачи слежения для модели двухколесного робота, основанное на технике SDDRE», Управление развитием крупномасштабных систем (MLSD'2021) (Москва, 27–29 сентября 2021 года), Институт проблем управления им. В.А. Трапезникова РАН, М., 2021, ISBN 978-5-91450-256-7, с. 665–672.
Supplementary files
