Abstract
The article presents the experimental verification of the zero-sum differential game in the mobile robot tracking control task in changing environmental conditions. The solution allows to generate an adaptive optimal control and solve the \( H_\infty \) control problem. The adopted solution is based on the Hamilton-Jacobi-Bellman principle of optimality and is a generalization of the minmax optimization problem. The verification of adaptive optimal control is a new approach to this problem in the context of currently optimal solutions in mobile robotics in real time. The article presents the experimental results, which were used to verify the solutions adopted and confirmed the high accuracy of mobile robot tracking control.
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Hendzel, Z., Penar, P. (2020). Optimal Control of a Wheeled Robot. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2019. AUTOMATION 2019. Advances in Intelligent Systems and Computing, vol 920. Springer, Cham. https://doi.org/10.1007/978-3-030-13273-6_44
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DOI: https://doi.org/10.1007/978-3-030-13273-6_44
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