An Experimental Evaluation of the Forward Propagating Riccati Equation to Nonlinear Control of the Quanser 3 DOF Hover Testbed

Anna Prach; Erdal Kayacan; Dennis S. Bernstein

doi:10.1109/ACC.2016.7525490

An Experimental Evaluation of the Forward Propagating Riccati Equation to Nonlinear Control of the Quanser 3 DOF Hover Testbed

Anna Prach, Erdal Kayacan, Dennis S. Bernstein

Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review

10 Citationer (Scopus)

Abstract

This study presents an experimental evaluation of the forward-propagating Riccati equation (FPRE) control. FPRE employs a state-dependent coefficient (SDC) parameterization of the nonlinear dynamics, and the feedback gains are updated in real time. The efficacy of the proposed control algorithm is verified by experimental studies on the Quanser 3 DOF Hover system. The ability of FPRE to follow the desired references is investigated, and its performance is compared with the conventional linear-quadratic regulator. Experimental results show the effectiveness of FPRE for following given references in the considered operating envelope.

Originalsprog	Engelsk
Titel	2016 American Control Conference, ACC 2016
Antal sider	6
Forlag	IEEE
Publikationsdato	28 jul. 2016
Sider	3710-3715
Artikelnummer	7525490
ISBN (Elektronisk)	2378-5861
DOI	https://doi.org/10.1109/ACC.2016.7525490
Status	Udgivet - 28 jul. 2016
Udgivet eksternt	Ja
Begivenhed	2016 American Control Conference - Boston Marriott Copley Place, Boston, USA Varighed: 6 jul. 2016 → 8 jul. 2016 http://acc2016.a2c2.org/

Konference

Konference	2016 American Control Conference
Lokation	Boston Marriott Copley Place
Land/Område	USA
By	Boston
Periode	06/07/2016 → 08/07/2016
Internetadresse	http://acc2016.a2c2.org/

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10.1109/ACC.2016.7525490

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7525490

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Citationsformater

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title = "An Experimental Evaluation of the Forward Propagating Riccati Equation to Nonlinear Control of the Quanser 3 DOF Hover Testbed",

abstract = "This study presents an experimental evaluation of the forward-propagating Riccati equation (FPRE) control. FPRE employs a state-dependent coefficient (SDC) parameterization of the nonlinear dynamics, and the feedback gains are updated in real time. The efficacy of the proposed control algorithm is verified by experimental studies on the Quanser 3 DOF Hover system. The ability of FPRE to follow the desired references is investigated, and its performance is compared with the conventional linear-quadratic regulator. Experimental results show the effectiveness of FPRE for following given references in the considered operating envelope.",

author = "Anna Prach and Erdal Kayacan and {S. Bernstein}, Dennis",

year = "2016",

month = jul,

day = "28",

doi = "10.1109/ACC.2016.7525490",

language = "English",

pages = "3710--3715",

booktitle = "2016 American Control Conference, ACC 2016",

publisher = "IEEE",

note = "2016 American Control Conference ; Conference date: 06-07-2016 Through 08-07-2016",

url = "http://acc2016.a2c2.org/",

}

An Experimental Evaluation of the Forward Propagating Riccati Equation to Nonlinear Control of the Quanser 3 DOF Hover Testbed. / Prach, Anna; Kayacan, Erdal; S. Bernstein, Dennis.
2016 American Control Conference, ACC 2016. IEEE, 2016. s. 3710-3715 7525490.

Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review

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AU - Kayacan, Erdal

AU - S. Bernstein, Dennis

PY - 2016/7/28

Y1 - 2016/7/28

N2 - This study presents an experimental evaluation of the forward-propagating Riccati equation (FPRE) control. FPRE employs a state-dependent coefficient (SDC) parameterization of the nonlinear dynamics, and the feedback gains are updated in real time. The efficacy of the proposed control algorithm is verified by experimental studies on the Quanser 3 DOF Hover system. The ability of FPRE to follow the desired references is investigated, and its performance is compared with the conventional linear-quadratic regulator. Experimental results show the effectiveness of FPRE for following given references in the considered operating envelope.

AB - This study presents an experimental evaluation of the forward-propagating Riccati equation (FPRE) control. FPRE employs a state-dependent coefficient (SDC) parameterization of the nonlinear dynamics, and the feedback gains are updated in real time. The efficacy of the proposed control algorithm is verified by experimental studies on the Quanser 3 DOF Hover system. The ability of FPRE to follow the desired references is investigated, and its performance is compared with the conventional linear-quadratic regulator. Experimental results show the effectiveness of FPRE for following given references in the considered operating envelope.

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U2 - 10.1109/ACC.2016.7525490

DO - 10.1109/ACC.2016.7525490

M3 - Article in proceedings

SP - 3710

EP - 3715

BT - 2016 American Control Conference, ACC 2016

PB - IEEE

T2 - 2016 American Control Conference

Y2 - 6 July 2016 through 8 July 2016

ER -

An Experimental Evaluation of the Forward Propagating Riccati Equation to Nonlinear Control of the Quanser 3 DOF Hover Testbed

Abstract

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