Zero-Sum Differential Game in Wheeled Mobile Robot Control

  • Zenon Hendzel
  • Paweł PenarEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 934)


Zero-sum differential game is a combination optimum control method and solution \( H_{\infty } \) control problem. Its solutions are based on Bellman’s principle of optimality, for which the solution for nonlinear dynamic object is not available. In this case, approximation method based on actor-critic algorithms are used. One of the approximation method – SPIA [1] was applied in wheeled mobile robot tracking control problem and presented in the article. Numerical tests for the solution of the zero-sum differential game approximating algorithm were compared with the classical PD algorithm.

The obtained results confirm theoretical assumptions concerning the relationship between zero-sum differential game and \( H_{\infty } \) control problem.


Differential game Optimal control Approximation dynamic programming 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Rzeszow University of TechnologyRzeszówPoland

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