Lima, Jeferson José deTusset, Angelo MarceloJanzen, Frederic ConradPiccirillo, ViniciusNascimento, Claudinor BitencourtBalthazar, José ManoelBrasil, Reyolando Manoel Lopes Rebello da Fonseca2015-11-032015-11-032014-01-0110th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014.0094-243Xhttp://hdl.handle.net/11449/130190A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.565-574engSDRE controlRobotic controlFeedforward controlFeedback controlTrabalho apresentado em evento10.1063/1.4904625WOS:000347812200068Acesso aberto