SDRE control of flexible beam manipulator

Shihabudheen, K V; Thankachan, Jose; Vasista, Chinmay

doi:10.1109/icscti.2015.7489584

Cited by 3 publications

(2 citation statements)

References 16 publications

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“…In the last decade, this method has been used in many different areas of research, for example, satellite and spacecraft control and estimation [13,14], control of servopneumatic drives [15], control of quadrotor aircraft [16][17][18][19][20], robotics [21,22], control of non-affine systems [23], and even in medical sciences for cancer treatment allowing optimization of drug dosing control [24].…”

Section: Introductionmentioning

confidence: 99%

Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control

Stępień

Superczyńska

2021

Applied Sciences

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This paper presents modeling and infinite-time suboptimal control of a quadcopter device using the state-dependent Riccati equation (SDRE) method. It establishes a solution to the control problem using SDRE and proposes a new procedure for solving the problem. As a new contribution, the paper proposes a modified SDRE-based suboptimal control technique for affine nonlinear systems. The method uses a pseudolinearization of the closed-loop system employing Moore–Penrose pseudoinverse. Then, the algebraic Riccati equation (ARE), related to the feedback compensator gain, is reduced to state-independent form, and the solution can be computed only once in the whole control process. The ARE equation is applied to the problem reported in this study that provides general formulation and stability analysis. The effectiveness of the proposed control technique is demonstrated through the use of simulation results for a quadrotor device.

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Section: Introductionmentioning

confidence: 99%

Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control

Stępień

Superczyńska

2021

Applied Sciences

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“…, where k is a nonlinear function of x. SDRE nonlinear control approach is similar to the LQR approach for linear systems [24], as a result the system equations are transformed to SDC form:…”

Section: Sdre Regulator Problemmentioning

confidence: 99%

Vibration Control of Flexible Link Manipulator Using SDRE Controller and Kalman Filtering

Reddy¹,

Jacob²

2017

SIC

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Abstract:The problem of estimating the flexural states while applying State-Dependent Riccati Equation (SDRE) technique to flexible link manipulator (FLM) is the focus of this paper. The proposed method investigates the effect of employing Kalman Filter as state estimator in the case of the deterministically modelled FLM. The dynamic model of the FLM is derived through combined Euler Lagrangian-Assumed modes approach based on two significant modes, resulting in a nonlinear model with six states. The information of states being crucial to the imple mentation of SDRE controller, the state estimator based on Kalman filter designed in this paper, minimizes the effect of noises that may corrupt the state measurements. Simulation results reveal the effectiveness of Kalman filter based SDRE controller for accurate positioning and vibration suppression of the FLM.

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Tip Point Control Of A Flexible Beam Using Robust Mu Synthesis Controller

R¹,

Shihabudheen

2020

2020 International Conference on Futuristic Technologies in Control Systems &Amp; Renewable Energy (ICFCR)

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SDRE control of flexible beam manipulator

Cited by 3 publications

References 16 publications

Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control

Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control

Vibration Control of Flexible Link Manipulator Using SDRE Controller and Kalman Filtering

Tip Point Control Of A Flexible Beam Using Robust Mu Synthesis Controller

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