Constrained optimal control for wheeled cars

This paper considers the optimal control problem for a wheeled car (robot) subject to inequality constraints which are induced by hardware. Before solving the optimal control problem, we propose an equality constraint to substitute the inequality constraints with a new technique, which is developed to design an optimal controller for tracking while characterizing the reasonable input torque. It is shown that the problem of optimal control design with equality constraints imposing feasible range of input torque is easily solvable by applying the proposed technique.