This paper considers a novel coupled state-dependent Riccati equation (SDRE) approach for systematically designing nonlinear quadratic regulator (NLQR) and H∞ control of mechatronics systems. The state-dependent feedback control solutions can be obtained by solving a pair of coupled SDREs, guaranteeing nonlinear quadratic optimality with inherent stability property in combination with robust type of disturbance reduction. The derivation of this control strategy is based on Nash's game theory. Both finite and infinite horizon control problems are discussed. An under-actuated robotic system, Furuta rotary pendulum, is used to examine the effectiveness and robustness of this novel nonlinear control approach.
Issue Section:
Research Papers
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