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Title:Analysis and Real-Time Implementation of State -Dependent Riccati Equation Controlled Systems
Author(s):Erdem, Evrin Bilge
Doctoral Committee Chair(s):Andrew Alleyne
Department / Program:Mechanical Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Engineering, Mechanical
Abstract:Finally, experimental real-time control using SDRE is addressed. The plant used is the Pendubot, a two-link underactuated robot, which is a highly nonlinear 4th order system. The SDRE control is calculated by solving the Algebraic Riccati Equation online and the Pendubot is regulated at one of its unstable positions. The results show that the computational power requirement associated with SDRE real-time control is not very high. Simulation and experimental results reveal the advantages of SDRE control over LQR.
Issue Date:2001
Type:Text
Language:English
Description:140 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2001.
URI:http://hdl.handle.net/2142/83761
Other Identifier(s):(MiAaPQ)AAI3023052
Date Available in IDEALS:2015-09-25
Date Deposited:2001


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