Design of Nonlinear Feedback Controllers for Robot Tracking via the State Dependent Riccati Equation Method

Abstract

After many years of research, there are various methods for the project of nonlinear controllers. However, there is still the need for a methodology that would allow one to evaluate not only stability, but also performance and robustness of a significant number of nonlinear systems. Control via the State Dependent Riccati Equation (SDRE) method appears, then, as a relevant tool. In this project, the authors were concerned with developing control strategies for tracking of different reference trajectories by a mobile robot. Simulations were performed in MATLAB which exhibit the action of the SDRE controller.