Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
756026 | Communications in Nonlinear Science and Numerical Simulation | 2011 | 10 Pages |
Abstract
The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot.
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Authors
André Fenili, José Manoel Balthazar,