Adaptable Virtual Structure Formation Tracking Control Design for Nonholonomic Tracked Mobile Robots, With Experiments

2015 ◽  
Author(s):  
Chang Boon Low
Keyword(s):  
Mobile Robots ◽  
Structure Formation ◽  
Tracking Control ◽  
Control Design ◽  
Formation Tracking

Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
K. D. Do
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Tracking Control ◽  
Lévy Processes ◽  
Control Design ◽  
Levy Processes ◽  
Path Tracking ◽  
Tracking Errors ◽  
Hamilton Jacobi Bellman ◽  
And Control

Abstract This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

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