SDDRE based nonlinear feedback construction in the tracking problem for a wheeled robot model

The article discusses the problem of constructing nonlinear feedback in the tracking problem for a wheeled robotic system. A special feature of the work is the formulation of a problem in which the reference trajectories of the system are known in advance, as well as a modification of a previously known algorithm based on the State-Dependent Differential Riccati Equation technique. Numerical experiments show that the proposed approach allows for a compromise between control quality and operating speed.