Robot Control using Finite Time SDDRE

These codes present the simulation of a finite-time state-dependent differential Riccati equation controller for a 2-DoF manipulator.

To use the codes only run the “run.m” file, the rest of the files are supportive and have different functions.

The codes perform a simulation of point-to-point control of a 2-degree-of-freedom arm using the state-dependent differential Riccati equation (SDDRE). The SDDRE is the finite time version of the state-dependent Riccati equation (SDRE) and can control finite time. The solution methods are backward integration (BI) and state transition matrix approach (STM). The codes are related to the simulation section of the following article:

Korayem, Moharam Habibnejad, and Saeed Rafee Nekoo. "Nonlinear optimal control via finite time horizon state-dependent Riccati equation." 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2014.

Paper: https://ieeexplore.ieee.org/document/6991015

DOI: https://doi.org/10.1109/ICRoM.2014.6991015