Output- and state-dependent Riccati equation: An output feedback controller design

Nekoo, Saeed Rafee

doi:10.1016/j.ast.2022.107649

Cited by 9 publications

(1 citation statement)

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“…The simulation showed that the controlled leg increased (shifted) the workspace drastically and the results also demonstrated the extension of the workspace. The kinematics transformation between the joint angles and end-effectors could be incorporated into the dynamics and treated by output-feedback-based controllers [23]- [25], to command in Cartesian coordinates which is proposed for future studies.…”

Section: Discussionmentioning

confidence: 99%

Theoretical and Experimental Investigation on Body Control after Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation

Luque

Satue

Nekoo

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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This work investigates a post-perching control for flappingwing flying robots (FWFRs) to control and move the system on a branch. The flapping-wing aerial systems are lightweight platforms that mimic the birds' flight and they could serve for monitoring and inspection. The interaction of the FWFRs with the environment needs to fulfill perching on a branch, as a preliminary step, then moving the body to gain access to the desired pose and workspace. The leg of the robot moves the bird to the proper position. This work studies the mathematical modeling, simulation, and experimental implementation of this topic. A three-degree-of-freedom system is presented to model the robot's body, tail, and leg. A nonlinear controller, so-called feedback linearization (FL) is used for the control of the robot. A linear quadratic regulator (LQR), plus an integrator, are embedded in the FL controller to deliver optimal control for the linearized system. The simulation results show that the actuated leg extends the workspace of the robot significantly and confirms the effectiveness of the proposed strategy for body control. Experimental results present similar behavior of the system using the proposed controller for different desired setpoints.

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Section: Discussionmentioning

confidence: 99%