A novel controller for nonlinear uncertain systems using a combination of SDRE and function approximation technique: regulation and tracking of flexible-joint manipulators

DOI10.1016/j.jfranklin.2021.04.037zbMath1467.93180OpenAlexW3161997542MaRDI QIDQ2041377

Mohammad Bagher Menhaj, Neda Nasiri, Ahmad Fakharian

Publication date: 19 July 2021

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2021.04.037

zbMATH Keywords

optimal controlrobust adaptive controlflexible joint manipulatorsstate dependent Riccati equation (SDRE)function approximation technique (FAT)

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Related Items (2)

Sub-optimal controller design for time-delay nonlinear partial differential equation systems: an extended state-dependent differential Riccati equation approach ⋮ A robust state-dependent Riccati equation controller with parameter uncertainty and matched disturbance

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