TY - JOUR N2 - The paper presents the results of experimental verification on using a zero-sum differential game and H ∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion. L1 - http://www.journals.pan.pl/Content/121315/PDF/Z_14_02297_Bpast.No.69(6)_OK.pdf L2 - http://www.journals.pan.pl/Content/121315 PY - 2021 IS - 6 EP - e139390 DO - 10.24425/bpasts.2021.139390 KW - differential game KW - H∞ control KW - wheeled mobile robot A1 - Hendzel, Zenon A1 - Penar, Paweł VL - 69 DA - 04.11.2021 T1 - Experimental verification of H∞ control with examples of the movement of a wheeled robot SP - e139390 UR - http://www.journals.pan.pl/dlibra/publication/edition/121315 T2 - Bulletin of the Polish Academy of Sciences Technical Sciences ER -