2018
DOI: 10.1115/1.4040295
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Coupled State-Dependent Riccati Equation Control for Continuous Time Nonlinear Mechatronics Systems

Abstract: This paper considers a novel coupled state-dependent Riccati equation (SDRE) approach for systematically designing nonlinear quadratic regulator (NLQR) and H∞ control of mechatronics systems. The state-dependent feedback control solutions can be obtained by solving a pair of coupled SDREs, guaranteeing nonlinear quadratic optimality with inherent stability property in combination with robust L2 type of disturbance reduction. The derivation of this control strategy is based on Nash's game theory. Both finite an… Show more

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Cited by 4 publications
(1 citation statement)
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“…Based on the literature, the following are some of the control strategies employed for stabilization and tracking control of an inverted pendulum system; a variable speed control moment gyroscope (VSCMG) actuator was employed to control a typical pendulum configuration [1]. Coupled state-dependent Riccati equation (SDRE) method for scientifically designing nonlinear quadratic regulator (NLQR) and H infinity control of an under-actuated Furuta rotary pendulum was developed [2]. The main control objectives of a rotary inverted pendulum as swing-up control, stabilization control, switching control and trajectory tracking control was described in [3,4] proposed RBF-ARX (state-dependent auto-regressive model with exogenous input and radial basis function network type coefficients) model-based efficient robust predictive control method for systematic inverted pendulum design.…”
Section: Introductionmentioning
confidence: 99%
“…Based on the literature, the following are some of the control strategies employed for stabilization and tracking control of an inverted pendulum system; a variable speed control moment gyroscope (VSCMG) actuator was employed to control a typical pendulum configuration [1]. Coupled state-dependent Riccati equation (SDRE) method for scientifically designing nonlinear quadratic regulator (NLQR) and H infinity control of an under-actuated Furuta rotary pendulum was developed [2]. The main control objectives of a rotary inverted pendulum as swing-up control, stabilization control, switching control and trajectory tracking control was described in [3,4] proposed RBF-ARX (state-dependent auto-regressive model with exogenous input and radial basis function network type coefficients) model-based efficient robust predictive control method for systematic inverted pendulum design.…”
Section: Introductionmentioning
confidence: 99%