Analysis and Real-Time Implementation of State -Dependent Riccati Equation Controlled Systems

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Erdem, Evrin Bilge

Contributors dc:contributor

• Andrew Alleyne

• Engineering, Mechanical

Language dc:language

eng

Identifier

(MiAaPQ)AAI3023052

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/83761