Discrete Optimal Tracking Control for a Two-Wheel Mobile Robot Driven by DC Motors

In this paper, an optimal control is designed and developed to track time-varying desired paths. A discrete-time linear model for the mobile robot is first developed from the robot dynamics. Then, an optimal controller is formulated by solving a Riccati equation to track the robot desired orientation rate that causes the robot to track a desired position in a short time with less effort. The proposed discrete optimal controller is designed to track desired velocities of robot wheels, that causes a desired robot orientation rate, that are computed from the robot kinematics. Numerical simulations are introduced to demonstrate the effectiveness of the proposed discrete optimal controller.