PMID- 23158930
OWN - NLM
STAT- MEDLINE
DCOM- 20130822
LR  - 20130228
IS  - 1879-2022 (Electronic)
IS  - 0019-0578 (Linking)
VI  - 52
IP  - 2
DP  - 2013 Mar
TI  - Nonlinear closed loop optimal control: a modified state-dependent Riccati 
      equation.
PG  - 285-90
LID - S0019-0578(12)00167-X [pii]
LID - 10.1016/j.isatra.2012.10.005 [doi]
AB  - The state-dependent Riccati equation (SDRE), as a controller, has been introduced 
      and implemented since the 90s. In this article, the other aspects of this 
      controller are declared which shows the capability of this technique. First, a 
      general case which has control nonlinearities and time varying weighting matrix Q 
      is solved with three approaches: exact solution (ES), online control update (OCU) 
      and power series approximation (PSA). The proposed PSA in this paper is able to 
      deal with time varying or state-dependent Q in nonlinear systems. As a result of 
      having the solution of nonlinear systems with complex Q containing constraints, 
      using OCU and proposed PSA, a method is introduced to prevent the collision of an 
      end-effector of a robot and an obstacle which shows the adaptability of the SDRE 
      controller. Two examples to support the idea are presented and conferred. 
      Supplementing constraints to the SDRE via matrix Q, this approach is named a 
      modified SDRE.
CI  - Copyright (c) 2012 ISA. Published by Elsevier Ltd. All rights reserved.
FAU - Rafee Nekoo, S
AU  - Rafee Nekoo S
AD  - School of Mechanical Engineering, Iran University of Science and Technology, 
      Tehran, Iran. rafee@iust.ac.ir
LA  - eng
PT  - Journal Article
DEP - 20121113
PL  - United States
TA  - ISA Trans
JT  - ISA transactions
JID - 0374750
SB  - IM
MH  - *Algorithms
MH  - Computer Simulation
MH  - *Feedback
MH  - *Models, Theoretical
MH  - *Nonlinear Dynamics
EDAT- 2012/11/20 06:00
MHDA- 2013/08/24 06:00
CRDT- 2012/11/20 06:00
PHST- 2012/07/19 00:00 [received]
PHST- 2012/10/08 00:00 [revised]
PHST- 2012/10/22 00:00 [accepted]
PHST- 2012/11/20 06:00 [entrez]
PHST- 2012/11/20 06:00 [pubmed]
PHST- 2013/08/24 06:00 [medline]
AID - S0019-0578(12)00167-X [pii]
AID - 10.1016/j.isatra.2012.10.005 [doi]
PST - ppublish
SO  - ISA Trans. 2013 Mar;52(2):285-90. doi: 10.1016/j.isatra.2012.10.005. Epub 2012 
      Nov 13.