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September 10, 2025Engineering Technology & Applied Science ResearchOpen Access

Robust MIMO LQR Control with Integral Action for Differential Drive Robots: A Lyapunov-Cost Function Approach

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Authors

ATAnh-Minh D. TranTon Duc Thang UniversityTVTri Vien VuTon Duc Thang University

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Implication

Integrating LQR and integral action enhances trajectory tracking in differential drive robots, suggesting improved performance amid disturbances.

Key Points

  • Trajectory tracking accuracy improved with LQR-integrated control, effectively reducing persistent offsets.
  • RRMSE values for longitudinal speed and yaw rate achieved under 10%, demonstrating reliability in simulations.
  • Lyapunov-based analysis confirms stability against external disturbances without increasing computational burden.
  • Method exceeds performance of conventional PID and LQR-feedforward systems, ideal for industrial applications.

Cite This Study

Tran et al. (2025) studied this question.

synapsesocial.com/papers/68c1ac0954b1d3bfb60e4aa8https://doi.org/10.48084/etasr.11583
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