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research-article

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

[+] Author and Article Information
Xin Wang

Electrical and Computer Engineering, Southern Illinois University, Edwardsville, IL 62026, USA
xwang@siue.edu

Edwin Yaz

Electrical and Computer Engineering, Marquette University, Milwaukee, WI 53201, USA
edwin.yaz@marquette.edu

Susan C. Schneider

Electrical and Computer Engineering, Marquette University, Milwaukee, WI 53201, USA
susan.schneider@marquette.edu

1Corresponding author.

ASME doi:10.1115/1.4040295 History: Received November 29, 2017; Revised May 10, 2018

Abstract

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 L2 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. A under-actuated robotic system, Furuta rotary pendulum, is used to examine the effectiveness and robustness of this novel nonlinear control approach.

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