Analysis and Real-Time Implementation of State -Dependent Riccati Equation Controlled Systems
Erdem, Evrin Bilge
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https://hdl.handle.net/2142/83761
Description
Title
Analysis and Real-Time Implementation of State -Dependent Riccati Equation Controlled Systems
Author(s)
Erdem, Evrin Bilge
Issue Date
2001
Doctoral Committee Chair(s)
Andrew Alleyne
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
Abstract
Finally, experimental real-time control using SDRE is addressed. The plant used is the Pendubot, a two-link underactuated robot, which is a highly nonlinear 4th order system. The SDRE control is calculated by solving the Algebraic Riccati Equation online and the Pendubot is regulated at one of its unstable positions. The results show that the computational power requirement associated with SDRE real-time control is not very high. Simulation and experimental results reveal the advantages of SDRE control over LQR.
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