This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

中文翻译：

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Lévy过程驱动的移动机器人的全局逆最优指数路径跟踪控制

该文提出并解决了一个由未知特性的 Lévy 过程驱动的移动机器人全局实用逆最优指数路径跟踪控制的新问题。控制设计基于 Lévy 过程驱动的非线性系统的新逆最优控制设计，几乎可以肯定地确保全局实际指数稳定性，并且在p路径跟踪错误的时刻。此外，它最小化了惩罚跟踪误差和控制扭矩的成本函数，而无需求解 Hamilton-Jacobi-Bellman 或 Hamilton-Jaccobi-Isaacs 方程。