Coupled State-Dependent Riccati Equation Control for Continuous Time Nonlinear Mechatronics Systems

Authors

Xin Wang, Southern Illinois University
Edwin E. Yaz, Marquette UniversityFollow
Susan C. Schneider, Marquette University

Document Type

Article

Language

eng

Publication Date

8-16-2018

Publisher

Institute of Electrical and Electronic Engineers (IEEE)

Source Publication

2018 Annual American Control Conference (ACC)

Source ISSN

2378-5861

Abstract

This manuscript considers the coupled state-dependent Riccati equation approach for systematically designing nonlinear quadratic regulator and H _∞ control of mechatronics systems. The state-dependent feedback control solutions can be obtained by solving a pair of coupled state-dependent Riccati equations, guaranteeing nonlinear quadratic optimality with inherent stability property in combination with robust ℓ ₂ type of disturbance reduction. The derivation of this control strategy is based on Nash's game theory. Both of finite and infinite horizon control problems are discussed. An underactuated robotic system, Furuta rotary pendulum, is used to examine the effectiveness and robustness of this novel nonlinear control approach.

Comments

Accepted version. 2018 Annual American Control Conference (ACC), (August 16, 2018): 2102-2107. DOI. © 2018 Institute of Electrical and Electronic Engineers (IEEE)

Recommended Citation

Wang, Xin; Yaz, Edwin E.; and Schneider, Susan C., "Coupled State-Dependent Riccati Equation Control for Continuous Time Nonlinear Mechatronics Systems" (2018). Electrical and Computer Engineering Faculty Research and Publications. 549.
https://epublications.marquette.edu/electric_fac/549