Generalizing the Letov formula for the discrete-time case

Bucolo, Maide; Buscarino, Arturo; Fortuna, Luigi; Gagliano, Salvina

doi:10.1007/s40435-022-00980-y

Cited by 2 publications

(2 citation statements)

References 13 publications

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“…Nonetheless, the key to creating LQR-optimized controllers for real-time applications is largely dependent on the efficient selection of Q and R weighting matrices, which necessarily involve trade-offs and are often tuned based on trial and error [ 20 ]. In addition, improving the efficiency of solving the Riccati algebraic differential equations is considered to be a progressive manifestation of designing LQR controllers [ 21 ]. Evolutionary computation (EC) was proposed as an alternative method to solve such optimization problems [ 22 ].…”

Section: Introductionmentioning

confidence: 99%

LQR Control and Optimization for Trajectory Tracking of Biomimetic Robotic Fish Based on Unreal Engine

Wang

Zhao

et al. 2023

Biomimetics

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A realistic and visible dynamic simulation platform can significantly facilitate research on underwater robots. This paper uses the Unreal Engine to generate a scene that resembles real ocean environments, before building a visual dynamic simulation platform in conjunction with the Air-Sim system. On this basis, the trajectory tracking of a biomimetic robotic fish is simulated and assessed. More specifically, we propose a particle swarm optimization algorithm-based control strategy to optimize the discrete linear quadratic regulator controller for the trajectory tracking problem, as well as tracking and controlling discrete trajectories with misaligned time series through introducing a dynamic time warping algorithm. Simulation analyses of the biomimetic robotic fish following a straight line, a circular curve without mutation, and a four-leaf clover curve with mutation are carried out. The obtained results verify the feasibility and effectiveness of the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%

LQR Control and Optimization for Trajectory Tracking of Biomimetic Robotic Fish Based on Unreal Engine

Wang

Zhao

et al. 2023

Biomimetics

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“…In this sens, recent reported works have demonstrated that it is possible to ensure the stability in discrete-time domain for multi-input-multi-output (MIMO) systems. This has been achieved through a generalization of the Letov formula, as mentioned in [3].…”

Section: Introductionmentioning

confidence: 99%

Discrete Integral Optimal Controller for Quadrotor Attitude Stabilization: Experimental Results

Godinez-Garrido,

Santos-Sánchez,

Romero-Trejo

et al. 2023

Applied Sciences

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The Unmanned Aerial Vehicle (UAV) attitude stabilization problem has been dealt with in many previous works through applying a vast range of philosophies of control strategies. In this paper, a discrete controller based on a Linear Quadratic Regulator (LQR) plus integral action is synthesized to stabilize the attitude and altitude of a quadrotor helicopter. This kind of control strategy allows us to reduce the energy consumption rate, and the desired UAV behavior is properly achieved. Experimental tests are conducted with external disturbances such as crosswinds deliberately added to affect the performance of the aerial vehicle. This provides experimental evidence that the integral part considered in the proposed control strategy contributes to improving the performance of the vehicle under external disturbances. In fact, a comparative analysis of potential and kinetic energy consumption is developed between the Optimal Integral Controller (OIC) and a Proportional Integral Derivative Controller (PID), allowing us to determine the level of improvement of the closed-loop system when the discrete Integral Optimal Controller is applied.

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Generalizing the Letov formula for the discrete-time case

Cited by 2 publications

References 13 publications

LQR Control and Optimization for Trajectory Tracking of Biomimetic Robotic Fish Based on Unreal Engine

LQR Control and Optimization for Trajectory Tracking of Biomimetic Robotic Fish Based on Unreal Engine

Discrete Integral Optimal Controller for Quadrotor Attitude Stabilization: Experimental Results

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