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Title:

Contraction Region Estimate for State-Dependent Riccati Equation-Based Controllers and its Application to a Two-Wheeled Inverted Pendulum

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Pérez, J.; Junghans, S.
Pages contribution:
Article Number 9385624
Abstract:
The state–dependent Riccati equation (SDRE) offers a systematic technique for controller design applicable to a wide range of nonlinear processes, especially to complex systems of higher order with inherently fast dynamics. Despite the numerous benefits of the SDRE technique, an open issue remains in providing stability regions for the regulated system as the closed-loop dynamics are not explicitly known. Standard techniques, such as Lyapunov’s direct method, do not allow to infer global propert...     »
Keywords:
nonlinear stabilisation; contraction theory; optimal control
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Editor:
IEEE
Book / Congress title:
IEEE International Conference on Mechatronics 2021 (ICM)
Organization:
IEEE
Date of congress:
7.-9.3.2021
Publisher:
IEEE
Date of publication:
30.03.2021
Year:
2021
Year / month:
2021-03
Month:
Mar
Covered by:
Scopus
Print-ISBN:
978-1-7281-4443-6
E-ISBN:
978-1-7281-4442-9
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/ICM46511.2021.9385624
WWW:
https://ieeexplore.ieee.org/document/9385624
TUM Institution:
Lehrstuhl für Regelungstechnik
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