SDRE-based high performance feedback control for nonlinear mechatronic systems

Slawomir Jan Stepien (Institute of Automation and Robotics, Poznan University of Technology, Poznan, Poland)
Paulina Superczynska (Institute of Automation and Robotics, Poznan University of Technology, Poznan, Poland)
Damian Dobrowolski (Dobrowolski LLC Company, Wschowa, Poland)
Jerzy Dobrowolski (Dobrowolski LLC Company, Wschowa, Poland)

Abstract

Purpose

The purpose of the paper is to present modeling and control of a nonlinear mechatronic system. To solve the control problem, the modified state-dependent Riccati equation (SDRE) method is applied. The control problem is designed and analyzed using the nonlinear feedback gain strategy for the infinite time horizon problem.

Design/methodology/approach

As a new contribution, this paper deals with state-dependent parametrization as an effective modeling of the mechatronic system and shows how to modify the classical form of the SDRE method to reduce computational effort during feedback gain computation. The numerical example compares described methods and confirms usefulness of the proposed technique.

Findings

The proposed control technique can ensure optimal dynamic response, reducing computational effort during control law computation. The effectiveness of the proposed control strategy is verified via numerical simulation.

Originality/value

The authors introduced an innovative approach to the well-known SDRE control methodology and settled their research in the newest literature coverage for this issue.

Keywords

Citation

Stepien, S.J., Superczynska, P., Dobrowolski, D. and Dobrowolski, J. (2019), "SDRE-based high performance feedback control for nonlinear mechatronic systems", COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, Vol. 38 No. 4, pp. 1164-1176. https://doi.org/10.1108/COMPEL-10-2018-0393

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

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