SDRE-based synthesis in a weakly nonlinear control problem on a finite interval

In this work, for one class of weakly nonlinear systems with state-dependent coefficients, a heuristic approach to constructing a nonlinear control using dynamic feedback is considered. A feature of the problem statement is the selection of two different vectors: the system output vector and the vector of adjustable coordinates. Estimates of unmeasured variables are obtained using a full-order state observer. Numerical experiments for control of the differentially driven wheeled mobile robot were carried out. The operability and effectiveness of the proposed control algorithm were shown.