Application of the state-dependent Riccati equation for flexible-joint arms: controller and estimator design

DOI10.1002/OCA.2377zbMATH Open1391.93153OpenAlexW2768139046MaRDI QIDQ3176465FDOQ3176465

Authors: Saeed Rafee Nekoo, M. H. Korayem 

Publication date: 20 July 2018

Published in: Optimal Control Applications \& Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2377

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zbMATH Keywords

nonlinear optimal controlflexible-joint manipulatorstate-dependent Riccati equationnoise and disturbanceobserver and estimator

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Observability (93B07) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Cited In (9)

• Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques
• Trajectory tracking control of a wheeled mobile robot in the presence of matched uncertainties via a composite control approach
• Analysis of manipulators using SDRE: a closed loop nonlinear optimal control approach
• A novel controller for nonlinear uncertain systems using a combination of SDRE and function approximation technique: regulation and tracking of flexible-joint manipulators
• Integrated nonlinear suboptimal control‐and‐estimator based on the state‐dependent differential Riccati equation approach
• Inverse optimal control via diagonal stabilization applied to attitude tracking of a reusable launch vehicle
• Comparative Study on State Estimation in Elastic Joints
• Nonlinear state estimation and control applied to a manipulator robotic including drive motor
• Dead-zone effect on the performance of state estimators for hydraulic actuators

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