Optimal Control of Mobile Robot’s Trajectory Movement

This paper is devoted to the development of an optimal control system of trajectory movement of a mobile robot. Synthesis of the trajectory control law is based on the methods of optimal control and asymptotical methods of singular perturbation theory. Singular perturbation theory’s methods are used for reducing the order of the solving problem and it helps to simplify the realization of the control law. Proposed system has two control loops: position control loop and velocity control loop. Based on this, the structure of the control system is represented by two modules: the reference and the executive. In this work the results of experimental verification of the trajectory control system at the mobile robot Rover5 with the tank-type chassis are presented. Key-Words: trajectory control, quadratic performance index, optimal control, mobile robot, tracked chassis.