NDLI: Nonlinear control design method based on state-dependent Riccati equation (SDRE) via quasi-Newton method

Content Provider	IEEE Xplore Digital Library
Author	Imae, J. Sagami, H. Kobayashi, T. Guisheng Zhai
Copyright Year	2004
Description	Author affiliation: Osaka Prefectural Univ., Sakai, Japan (Imae, J.; Sagami, H.; Kobayashi, T.; Guisheng Zhai)
Abstract	The state-dependent Riccati equation (SDRE) method is a recently emerging technique for the control design of nonlinear systems (Cloutier et al., 1996). Nonlinear regulator problems could be solved approximately, by applying a linear control theory to the nonlinear control design. However, one of the bottlenecks is that the SDRE based design method should require real-time computation of the algebraic Riccati equations. It is well known that Schur-decomposition of Hamiltonian and Kleinman algorithm are useful tools for solving the Riccati equations (Menon et al., 2002). The former is noniterative, and the latter is iterative. Generally speaking, the noniterative approach is faster computationally than the iterative approach. However, as far as computation and storage burden are concerned, the iterative method is superior. In this paper, we focus on the iterative approach, and propose a new technique to solve in real-time the algebraic Riccati equation. A key idea is a fusion of the vectorization of the SDRE and the quasi-Newton method. We demonstrate the practicability of the proposed fusion method through experiments of the swing control of a crane.
Starting Page	2740
Ending Page	2741
File Size	178338
Page Count	2
File Format	PDF
ISBN	0780386825
ISSN	01912216
DOI	10.1109/CDC.2004.1428876
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-14
Publisher Place	Bahamas
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Riccati equations Control design Nonlinear equations Iterative methods Nonlinear systems Regulators Control theory Design methodology Iterative algorithms Cranes
Content Type	Text
Resource Type	Article

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