Журнал «Информационные технологии и вычислительные системы» - D. A. Makarov , M. V. Khachumov "SDRE-Based Synthesis in a Weakly Nonlinear Control Problem on a Finite Interval"

In this work, for one class of weakly nonlinear systems with state-dependent coefficients, a heuristic approach to constructing a nonlinear control using dynamic feedback is considered. A feature of the problem statement is the selection of two different vectors: the system output vector and the vector of adjustable coordinates. Estimates of unmeasured variables are obtained using a full-order state observer. Numerical experiments for control of the differentially driven wheeled mobile robot were carried out. The operability and effectiveness of the proposed control algorithm were shown.

terminal control problem, nonlinear control, full-order state observer, SDRE technique, differentially driven wheeled mobile robot.

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