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Experimental Verification of the Differential Games and H∞ Theory in Tracking Control of a Wheeled Mobile Robot

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Abstract

This paper presents an experimental verification understood as an extension of the existing solutions for the application of the differential games theory in real-time control of a nonholonomic, nonlinear dynamic system, on the example of a wheeled robot. Based on the dissipative systems theory, the solution to the problem of weakening the impact of disturbances and changing working conditions of a mobile robot was obtained using the H∞ (L2 gain) control theory. The neural solution of the Hamilton-Jacobi-Isaac equation in the actor-critic structure was applied. Both simulation and experiment result showed very good quality in the wheeled robot tracking control problem taking into account the changing working conditions and other disturbance.

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Authors and Affiliations

  1. The Department of Applied Mechanics and Robotics, Rzeszow University of Technology, Rzeszow, Poland

    Paweł Penar & Zenon Hendzel

Authors
  1. Paweł Penar
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  2. Zenon Hendzel
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Contributions

Penar Paweł and Zenon Hendzel contributed to the design and implementation of the research, to the analysis of the results and to the writing of the manuscript.

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Correspondence to Paweł Penar.

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The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

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The submitted work is original and not have been published elsewhere in any form or language.

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Penar, P., Hendzel, Z. Experimental Verification of the Differential Games and H∞ Theory in Tracking Control of a Wheeled Mobile Robot. J Intell Robot Syst 104, 61 (2022). https://doi.org/10.1007/s10846-022-01584-6

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  • DOI: https://doi.org/10.1007/s10846-022-01584-6

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