An update algorithm design using moving Region of Attraction for SDRE based control law

Copur, Engin H.; Arıcan, Ahmet Çağrı; Özcan, Sinan; Salamcı, Metin U.

doi:10.1016/j.jfranklin.2019.08.007

Cited by 10 publications

(6 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As an alternative to the global asymptotic stability, it is of our interest to estimate the region of attraction (ROA) for asymptotic stability. For the SDRE techniques, there are some algorithms to compute the ROAs [33–36]. It is possible to apply these algorithms to estimate the ROAs of the proposed observer and/or observer‐based controllers.…”

Section: Simulation Resultsmentioning

confidence: 99%

Non‐linear estimation and observer‐based output feedback control

Batmani

Khodakaramzadeh

2020

IET Control Theory & Appl

View full text Add to dashboard Cite

Section: Simulation Resultsmentioning

confidence: 99%

Non‐linear estimation and observer‐based output feedback control

Batmani

Khodakaramzadeh

2020

IET Control Theory & Appl

View full text Add to dashboard Cite

“…Differential Riccati Equation (DRE) is solved for a given positive definite ( ) Q x by using a frozen system at each sampling instant according to the current states (See [27] and the references therein for recent computational approaches of SDRE and SDDRE control). Since the solution matrix of DRE; ( ) P x,t is state-dependent and the resulting sliding surface is actually time-varying, the designed sliding sector using ( ) P x,t is also state-dependent and time-varying.…”

Section: State Dependent Sliding Sector Controlmentioning

confidence: 99%

Nonlinear State Dependent Sliding Sector Control of Gimbal Systems

BIRINCI

ÖZKAN

Salamcı

2022

mech

View full text Add to dashboard Cite

Sliding Sector Control (SSC) design method for nonlinear systems is proposed in such a way that the system trajectories are kept around a nonlinear sliding surface which is surrounded by a nonlinear sliding sector. The SSC for the nonlinear system is derived so that the system trajectories are enforced to stay inside the sliding sector for tracking requirements. State-Dependent Differential Riccati Equations (SDDRE) are solved to design the nonlinear sliding surface for the nonlinear dynamical system. Within this context, SSC having nonlinear(or state-dependent) sliding surfaces are used to have a viable solution for the problem formulation. The evolving solutions of the Differential Riccati Equations are used to create the sliding surface which is kept inside the designed sliding sector so that the stability of the nonlinear system is ensured. The proposed SSC method is experimentally tested by applying it to an inner axis of a two axes gimbal system.

show abstract

“…To the best of the author's knowledge, this is the first time that a regional pole placement method using a state dependent Riccati Equation is proposed to ensure the desired stability and control performance for nonlinear systems. The effectiveness of the proposed method is validated through the experiments conducted on a 3-DOF Helicopter experimental setup; a commercial platform produced by Quanser specifically to test developed control algorithms in real time [20]- [22]. The proposed control approach is separately designed for different disk-shaped regions, each formed by different radius and center location.…”

Section: Introductionmentioning

confidence: 99%

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

Arıcan

Copur

Tsourdos

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

View full text Add to dashboard Cite

The proposed method produces a state feedback law to assign all closed-loop poles of nonlinear systems in a specified disk. For linear systems, a state feedback control law can be easily designed to keep all closed-loop poles inside a specified disk since the locations of the poles are unique. However, its application to nonlinear systems is not so simple since the locations of the closed loop poles change due to the state varying or uncertain dynamics of the nonlinear systems. Therefore, this paper introduces a new pole placement method, named as State Dependent Regional Pole Assignment, for nonlinear systems. This proposed method produces a state dependent feedback control law, enabling the closed-loop system poles to be placed in a specified disk to achieve the desired control performance characteristics. The effectiveness of the method is tested on the 3 DOF Helicopter experimental setup. To verify its effectiveness, the experimental results of the nonlinear method are compared with those of the linear method.

show abstract

An update algorithm design using moving Region of Attraction for SDRE based control law

Cited by 10 publications

References 27 publications

Non‐linear estimation and observer‐based output feedback control

Non‐linear estimation and observer‐based output feedback control

Nonlinear State Dependent Sliding Sector Control of Gimbal Systems

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

Contact Info

Product

Resources

About