We present a new optimal control approach to robust control of robot manipulators in the framework of state dependent Riccati equation (SDRE) technique. To treat this highly nonlinear control system, we formulate it as a nonlinear optimal regulator problem. SDRE technique was used to synthesize an optimal controller to this class of robot control problem. We also synthesize a neural network based extra controller to achieve the robustness in the presence of the parameter uncertainties. A typical two-link robot position control problem was studied to show the effectiveness of SDRE approach and robust extra control design to robotic application.
M. Xin et al., "Robust State Dependent Riccati Equation Based Robot Manipulator Control," Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01), Institute of Electrical and Electronics Engineers (IEEE), Jan 2001.
The definitive version is available at http://dx.doi.org/10.1109/CCA.2001.973893
2001 IEEE International Conference on Control Applications, 2001. (CCA '01)
Mechanical and Aerospace Engineering
Keywords and Phrases
Riccati Equations; SDRE Technique; Control System Synthesis; Highly-Nonlinear Control System; Manipulators; Neural Network Controller; Neurocontrollers; Nonlinear Control Systems; Optimal Control; Optimal Control Synthesis; Parameter Uncertainties; Robust Control; Robust State-Dependent Riccati-Equation-Based Robot Manipulator Control; Two-Link Robot Position Control
Article - Conference proceedings
© 2001 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.