PMID- 25765956
OWN - NLM
STAT- PubMed-not-MEDLINE
DCOM- 20150930
LR  - 20150713
IS  - 1879-2022 (Electronic)
IS  - 0019-0578 (Linking)
VI  - 57
DP  - 2015 Jul
TI  - State-dependent differential Riccati equation to track control of time-varying 
      systems with state and control nonlinearities.
PG  - 117-35
LID - S0019-0578(15)00045-2 [pii]
LID - 10.1016/j.isatra.2015.02.008 [doi]
AB  - This work studies an optimal control problem using the state-dependent Riccati 
      equation (SDRE) in differential form to track for time-varying systems with state 
      and control nonlinearities. The trajectory tracking structure provides two 
      nonlinear differential equations: the state-dependent differential Riccati 
      equation (SDDRE) and the feed-forward differential equation. The independence of 
      the governing equations and stability of the controller are proven along the 
      trajectory using the Lyapunov approach. Backward integration (BI) is capable of 
      solving the equations as a numerical solution; however, the forward solution 
      methods require the closed-form solution to fulfill the task. A closed-form 
      solution is introduced for SDDRE, but the feed-forward differential equation has 
      not yet been obtained. Different ways of solving the problem are expressed and 
      analyzed. These include BI, closed-form solution with corrective assumption, 
      approximate solution, and forward integration. Application of the tracking 
      problem is investigated to control robotic manipulators possessing rigid or 
      flexible joints. The intention is to release a general program for automatic 
      implementation of an SDDRE controller for any manipulator that obeys the 
      Denavit-Hartenberg (D-H) principle when only D-H parameters are received as input 
      data.
CI  - Copyright (c) 2015 ISA. Published by Elsevier Ltd. All rights reserved.
FAU - Korayem, M H
AU  - Korayem MH
AD  - Robotic Research Laboratory, School of Mechanical Engineering, Iran University of 
      Science and Technology (IUST), 1684613114 Tehran, Iran.
FAU - Nekoo, S R
AU  - Nekoo SR
AD  - Robotic Research Laboratory, School of Mechanical Engineering, Iran University of 
      Science and Technology (IUST), 1684613114 Tehran, Iran. Electronic address: 
      rafee@iust.ac.ir.
LA  - eng
PT  - Journal Article
DEP - 20150309
PL  - United States
TA  - ISA Trans
JT  - ISA transactions
JID - 0374750
OTO - NOTNLM
OT  - Denavit-Hartenberg
OT  - Differential Riccati equation
OT  - Manipulators
OT  - SDRE
OT  - Tracking control
EDAT- 2015/03/15 06:00
MHDA- 2015/03/15 06:01
CRDT- 2015/03/14 06:00
PHST- 2014/12/04 00:00 [received]
PHST- 2015/01/28 00:00 [revised]
PHST- 2015/02/12 00:00 [accepted]
PHST- 2015/03/14 06:00 [entrez]
PHST- 2015/03/15 06:00 [pubmed]
PHST- 2015/03/15 06:01 [medline]
AID - S0019-0578(15)00045-2 [pii]
AID - 10.1016/j.isatra.2015.02.008 [doi]
PST - ppublish
SO  - ISA Trans. 2015 Jul;57:117-35. doi: 10.1016/j.isatra.2015.02.008. Epub 2015 Mar 
      9.