Geodesic
SDRE-based synthesis in a weakly nonlinear control problem on a finite interval
Informacionnye tehnologii i vyčislitelnye sistemy, no. 4 (2020), pp. 17-25.

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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.
Keywords: terminal control problem, nonlinear control, full-order state observer, differentially driven wheeled mobile robot.
Mots-clés : SDRE technique 
@article{ITVS_2020_4_a1,
     author = {D. A. Makarov and M. V. Khachumov},
     title = {SDRE-based synthesis in a weakly nonlinear control problem on a finite interval},
     journal = {Informacionnye tehnologii i vy\v{c}islitelnye sistemy},
     pages = {17--25},
     publisher = {mathdoc},
     number = {4},
     year = {2020},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ITVS_2020_4_a1/}
}
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D. A. Makarov; M. V. Khachumov. SDRE-based synthesis in a weakly nonlinear control problem on a finite interval. Informacionnye tehnologii i vyčislitelnye sistemy, no. 4 (2020), pp. 17-25. http://geodesic.mathdoc.fr/item/ITVS_2020_4_a1/