Optimality in Control for Wheeled Robot

Abstract

It was applied in this paper a new approach to the problem of stabilisation of the motion of a wheeled robot in real time, as a mechanical object of unspecific description, considering variable operating conditions. To solve the thus understood motion stabilisation task under disturbance, the type H_∞ control method was used. This method is based on a two-person zero-sum differential game theory, in which the game is designed to determine the control to minimise the assumed quality indicator under the most unfavourable interference. This problem is reduced to solving the Hamilton-Jacobi-Isaac (HJI) equation in real time. The simulating example was inserted for the evaluation of analytical considerations, which showed high efficiency of the assumed solution, confirmed by high precision of execution of the set motion of the robot.