Abstract. 

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, SDRE technique, differentially driven wheeled mobile robot.

PP. 17-25.

DOI 10.14357/20718632200402

 

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