Results 151 to 160 of about 20,428,698 (185)

Exponential nonlinear observer based on the differential state-dependent Riccati equation

International Journal of Automation and Computing, 2012
This paper presents a novel nonlinear continuous-time observer based on the differential state-dependent Riccati equation (SDRE) filter with guaranteed exponential stability. Although impressive results have rapidly emerged from the use of SDRE designs for observers and filters, the underlying theory is yet scant and there remain many unanswered ...
Hossein Beikzadeh, Hamid D. Taghirad
openaire   +1 more source

Online solution of state dependent Riccati equation for nonlinear system stabilization

Proceedings of the 2010 American Control Conference, 2010
A number of computational methods have been proposed in the literature for synthesizing nonlinear control based on state-dependent Riccati equation (SDRE). Most of these methods are numerically complex or depend on correct initial conditions. This paper presents a new and computationally efficient online method for the design of stabilizing control for
Tansel Yucelen, Arjun Shekar Sadahalli, Farzad Pourboghrat   +2 more
openaire   +1 more source

Controller design of cooperative manipulators using state-dependent Riccati equation

Robotica, 2017
SUMMARYThis 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, Saeed Rafee Nekoo   +1 more
openaire   +1 more source

Controllability Issues in Nonlinear State-Dependent Riccati Equation Control

Journal of Guidance, Control, and Dynamics, 1998
Inthelastfewyears,algorithmsusingstate-dependentRiccatiequations (SDREs)havebeenproposedforsolving nonlinear control problems. Under state feedback, pointwise solutions of an SDRE must be obtained along the system trajectory. To ensure the control is well dee ned, global controllability and observability of state-dependent system factorizations are ...
Kelly D. Hammett, Christopher D. Hall, D. Brett Ridgely   +2 more
openaire   +1 more source

State-Dependent Riccati Equation Control For Small Autonomous Helicopters

Journal of Guidance, Control, and Dynamics, 2007
DOI: 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
openaire   +1 more source

State-Dependent Riccati Equation (SDRE) Control: A Survey

IFAC Proceedings Volumes, 2008
Since 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 ...
openaire   +1 more source

Parametric enhancement of state-dependent Riccati equation based control

Proceedings of the 1997 American Control Conference (Cat. No.97CH36041), 1997
In 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
openaire   +1 more source

State-Dependent Riccati Equation for Control of Aeroelastic Flutter

Journal of Guidance, Control, and Dynamics, 2003
Feedback 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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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), 2000
Spacecraft 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
openaire   +2 more sources

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), 2004
In 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, Masami Iwase, Katsuhisa Furuta, Satoshi Suzuki, Shoshiro Hatakeyama   +4 more
openaire   +2 more sources