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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.

Corresponding author

Correspondence to Paweł Penar.

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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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