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

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 propos...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Sławomir Stępień, Paulina Superczyńska
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	nonlinear systems state-dependent Riccati equations quadcopter Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/a4bcaeabf368442cb11154b3aca30161
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:a4bcaeabf368442cb11154b3aca30161
record_format	dspace
spelling	oai:doaj.org-article:a4bcaeabf368442cb11154b3aca301612021-11-25T16:36:14ZModified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control10.3390/app1122107142076-3417https://doaj.org/article/a4bcaeabf368442cb11154b3aca301612021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10714https://doaj.org/toc/2076-3417This 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.Sławomir StępieńPaulina SuperczyńskaMDPI AGarticlenonlinear systemsstate-dependent Riccati equationsquadcopterTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10714, p 10714 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	nonlinear systems state-dependent Riccati equations quadcopter Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	nonlinear systems state-dependent Riccati equations quadcopter Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Sławomir Stępień Paulina Superczyńska Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control
description	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.
format	article
author	Sławomir Stępień Paulina Superczyńska
author_facet	Sławomir Stępień Paulina Superczyńska
author_sort	Sławomir Stępień
title	Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control
title_short	Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control
title_full	Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control
title_fullStr	Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control
title_full_unstemmed	Modified Infinite-Time State-Dependent Riccati Equation Method for Nonlinear Affine Systems: Quadrotor Control
title_sort	modified infinite-time state-dependent riccati equation method for nonlinear affine systems: quadrotor control
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/a4bcaeabf368442cb11154b3aca30161
work_keys_str_mv	AT sławomirstepien modifiedinfinitetimestatedependentriccatiequationmethodfornonlinearaffinesystemsquadrotorcontrol AT paulinasuperczynska modifiedinfinitetimestatedependentriccatiequationmethodfornonlinearaffinesystemsquadrotorcontrol
_version_	1718413094564134912

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

Ejemplares similares