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

Published online by Cambridge University Press:  19 April 2021

K. D. Do Open the ORCID record for K. D. Do [Opens in a new window]
K. D. Do*
Affiliation:
School of Civil and Mechanical Engineering, Curtin University, Bentley, WA 6102, Australia Email: duc@curtin.edu.au
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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.

Keywords

Mobile robotPath-trackingInverse optimalityExponential stabilityLévy processes

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Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2306 - 2332
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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