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path-tracking

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Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes
K. D. Do
Journal:

Robotica / Volume 39 / Issue 12 / December 2021

Published online by Cambridge University Press:

19 April 2021, pp. 2306-2332
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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.