Coupled State-Dependent Riccati Equation Control for Continuous Time Nonlinear Mechatronics Systems
Institute of Electrical and Electronic Engineers (IEEE)
2018 Annual American Control Conference (ACC)
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.
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.
ADA Accessible Version
Accepted version. 2018 Annual American Control Conference (ACC), (August 16, 2018): 2102-2107. DOI. © 2018 Institute of Electrical and Electronic Engineers (IEEE)