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