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Controller design of cooperative manipulators using state-dependent Riccati equation
Robotica, 2017SUMMARYThis study examined the use of a state-dependent Riccati equation (SDRE) for controller design and analysis of cooperative manipulators. The connection of end-effectors when holding an object imports constraint and complexity into the problem.
Moharam Habibnejad Korayem +1 more
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State-Dependent Riccati Equation Control For Small Autonomous Helicopters
Journal of Guidance, Control, and Dynamics, 2007DOI: 10.2514/1.21910 This paper presents a flight control approach based on a state-dependent Riccati equation and its application to autonomous helicopters. For our experiments, we used two different platforms: an XCell-90 small hobby helicopter and a larger vehicle based on the Yamaha R-Max.
Alexander Bogdanov, Eric Wan
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On the Solution of Optimal Control Problems using Parameterized State-Dependent Riccati Equations
2020 59th IEEE Conference on Decision and Control (CDC), 2020This paper introduces a new algorithm for the solution of infinite horizon optimal control problems for inputaffine nonlinear systems based on a parameterization of the solutions of an associated state-dependent Riccati equation. This allows the transformation of the problem into an optimisation problem and allows approximate solutions to be derived ...
Adam Jones, Alessandro Astolfi
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Parametric enhancement of state-dependent Riccati equation based control
Proceedings of the 1997 American Control Conference (Cat. No.97CH36041), 1997In the state-dependent Riccati equation (SDRE) method for nonlinear regulation, the nonlinear system is first brought to a linear structure having state-dependent coefficient (SDC) matrices, i.e., x/spl dot/=A(x)x+B(x)u. An SDRE is then solved to obtain a nonlinear controller of the form u=-R/sup -1/(x)B/sup T/(x)P(x)x, where P(x) is the solution of ...
J.R. Cloutier, C.P. Mracek
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On global stability of planar systems with state‐dependent Riccati equation control
Asian Journal of Control, 2021AbstractThis paper is concerned with the global asymptotic stability (GAS) of a class of planar systems with a state‐dependent Riccati equation (SDRE) control. Based on the philosophy of feedback domination along with the depiction of the influence arising from system nonlinearities, a sufficient condition indicating the allowable intervals of control ...
Chien‐Chun Liu +2 more
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State-Dependent Riccati Equation (SDRE) Control: A Survey
IFAC Proceedings Volumes, 2008Since the mid-90's, State-Dependent Riccati Equation (SDRE) strategies have emerged as general design methods that provide a systematic and effective means of designing nonlinear controllers, observers, and filters. These methods overcome many of the difficulties and shortcomings of existing methodologies, and deliver computationally simple algorithms ...
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Position and attitude control of a spacecraft using the state-dependent Riccati equation technique
Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000Spacecraft which are required to remove space debris or collect disabled satellites must be able to achieve the attitude of the target while being positioned at a desired distance from the target. The six degree of freedom motion of a spacecraft performing rotational and translational maneuvers has nonlinear equations of motion.
Donald T. Stansbery, James R. Cloutier
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State-Dependent Riccati Equation for Control of Aeroelastic Flutter
Journal of Guidance, Control, and Dynamics, 2003Feedback control design for suppression of flutter in an aeroelastic system is studied. Feedback control laws based on the state-dependent Riccati equation are derived. Two control laws are studied: one formulation uses an observer to estimate the states after which it uses the estimated states to generate feedback law; the other formulation uses ...
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A design of servo controller for nonlinear systems using state dependent Riccati equation
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), 2004In this paper, we present a new servo controller for nonlinear manipulator system designed by using the idea of the model-following servo controller. The control method proposed does not require the linearization but can consider the internal forces at joints.
Satoru Terashima +4 more
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Chaos control and chaos synchronization using the state-dependent Riccati equation techniques
Transactions of the Institute of Measurement and Control, 2018In this paper, the problems of chaos control and chaos synchronization are solved using the state-dependent Riccati equation methods. In the former problem, a nonlinear suboptimal control law is found, which leads to a stable closed-loop system. In the latter, an optimal infinite-time horizon tracking problem is defined and solved using the state ...
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