Experimental real-time SDRE control of an underactuated robot

In 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. Howeve...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Erdem, E.B., Alleyne, A.G.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Error correction Feedback Industrial engineering Linear systems Nonlinear control systems Nonlinear equations Nonlinear systems Riccati equations Service robots
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