UDC 004.724
OPTIMAL NON-STATIONFRY CONTROL OF MULTIPLY CONNECTED OBJECTS
A. I. Bobikov, Ph.D. (Tech.), associate professor of the Department of AITU, RSREU, Ryazan, Russia;
orcid.org/0000-0001-7440-3118,e-mail:This email address is being protected from spambots. You need JavaScript enabled to view it.
M. D. Kornienko, master student, RSREU, Ryazan, Russia;
orcid.org/0009-0001-3616-669Х, e-mail:This email address is being protected from spambots. You need JavaScript enabled to view it.
We consider the problem of motion planning and control, a well-known problem in the field of robotics. The aim of the work is to determine, with respect to robot dynamics, the optimal trajectory of its motion, which is planned or desired trajectory. Then, taking this trajectory as the desired reference action, we find control laws of mobile robot, allowing to track the optimal solution with required accuracy. The trajectory can be either smooth or non-smooth. For non-smooth motion trajectory, the methodology for determining the trajectory is reduced to the selection of reference transfer function. Such a method leads to a solution that coincides with the classical methods for solving a similar problem without the use of optimization methods, if setting effect is a smooth function of time. However, in the presence of obstacles, the desired trajectory of robot motion in a number of cases consists of several segments corresponding to rectilinear and rotational motions, which causes the non-stationary nature of trajectory as a piecewise continuous function of time
Key words: :low control, mobile robot, non-stationary systems, desired trajectory, smooth function of time, rectilinear and rotational motions, non-stationary smooth convex optimization problem, global asymptotic convergence, performance criterion gradient.