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

被引：0
|
作者：
Wang, Xin [1 ]
Yaz, Edwin E. [2 ]
Schneider, Susan C. [2 ]
机构：
[1] Southern Illinois Univ, Dept Elect & Comp Engn, Edwardsville, IL 62026 USA
[2] Marquette Univ, Dept Elect & Comp Engn, Milwaukee, WI 53201 USA
来源：
2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | 2018年
关键词：
MIXED H-2/H-INFINITY CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This manuscript considers the coupled state-dependent Riccati equation approach for systematically designing nonlinear quadratic regulator and H-infinity 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 under-actuated robotic system, Furuta rotary pendulum, is used to examine the effectiveness and robustness of this novel nonlinear control approach.
引用
收藏
页码：2102 / 2107
页数：6
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