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Attitude control using the SDRE technique
7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002., 2004Attitude control is always considered as a nonlinear control problem. The state-dependent Riccati equation (SDRE) method of nonlinear suboptimal regulation is applied here to the attitude control of a rigid spacecraft. The saturated control is also considered by gain scheduling when using the SDRE method.
Wencheng Luo, Yun-Chung Chu
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Application of SDRE control to servopneumatic drives
2010 IEEE International Conference on Control Applications, 2010Servopneumatic drives are characterized by significant nonlinearities due to the compressibility of the air, nonlinear characteristics of the servo valve and high static friction forces by the sealing utilities. To achieve high accuracies in positioning control these nonlinearities have to be considered in the control design.
Martin Weickgenannt +3 more
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A SDRE-based tracking control for a hydraulic actuation system
Mechanical Systems and Signal Processing, 2015 This paper presents the design and the experimental evaluation of a tracking control for a hydraulic actuation system in the presence of significant nonlinearities. The adopted control approach consists of a feedforward and a feedback term.
Mario Terzo, Salvatore Strano
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On the stability of optimal controlled systems with SDRE approach
International Multi-Conference on Systems, Sygnals & Devices, 2012State Dependant Riccati Equation (SDRE) method is gaining more and more place as a promising emerged methodology for nonlinear control system design, and therefore becoming the basic theory about which are articulated many relevant recent approaches for the optimal control resolution of a control-affine nonlinear system.
Salwa Elloumi +2 more
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SDRE control of flexible beam manipulator
2015 International Conference on Soft Computing Techniques and Implementations (ICSCTI), 2015This paper deals with dynamic modeling and tip position control of flexible beam manipulator with flexible joint while suppressing the link vibrations. The nonlinear dynamic model of the flexible beam manipulators has been derived using the idea of Lagrangian mechanics and assumed modes method (AMM).
K V Shihabudheen +2 more
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SDRE control of non-affine systems
2016 4th International Conference on Control, Instrumentation, and Automation (ICCIA), 2016In this paper, we present a new method for obtaining closed-form SDC matrices for synthesis of SDRE controller for non-affine nonlinear systems. Furthermore, we design SDRE controller with OCU method for proposed SDC form. Simulation results shows that proposed method for designing SDRE controller yields good tracking performance and smoothness of ...
Kiumars Azimi Roudkenary +2 more
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Cooperative Control of Underwater Manipulators Based on the SDRE Method
2021 International Russian Automation Conference (RusAutoCon), 2021the paper exams the problem of coordinated control of underwater manipulators when moving a load with a concentrated mass along a given trajectory. The control approach is based on the representation of nonlinear models of manipulator dynamics in the linear state-space form with state-dependent coefficients (SDC form).
Aleksey A. Kabanov, Vadim A. Kramar
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A Simplified SDRE Technique for Regulation in Optimal Control Systems
2019 IEEE International Conference on Electro Information Technology (EIT), 2019Optimal control of linear systems is a well-established area of research, whereas the closed-loop, optimal control of nonlinear systems has been a challenging research area and there has been recent work in this area using state-dependent Riccati equation (SDRE).
D. Subbaram Naidu +2 more
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Experimental real-time SDRE control of an underactuated robot
Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2002In this paper, State-Dependent Riccati Equation (SDRE) nonlinear control is used to regulate the Pendubot, a two-link underactuated robot developed at UIUC, at one of its unstable equilibrium positions. The plant is not fully feedback linearizable due to weakly nonminimum phase zero-dynamics.
Ervin B. Erdem, Andrew G. Alleyne
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A View of SDRE Control Methods as One Branch of Indirect Adaptive Control
Infotech@Aerospace 2012, 2012Current popular State Dependent Riccati Equation (SDRE) control methods, which have recently received a lot of attention in the control community, have been perceived as one branch of adaptive control. Their ability to re-compute the controller gain in real time based on the State Dependent Coefficient (SDC) matrix pair [A(x(t)), B(x(t))] can be viewed
Quang Lam +2 more
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