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

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-review

10 Citations (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.

Original languageEnglish
Title of host publication2016 American Control Conference, ACC 2016
Number of pages6
PublisherIEEE
Publication date28 Jul 2016
Pages3710-3715
Article number7525490
ISBN (Electronic)2378-5861
DOIs
Publication statusPublished - 28 Jul 2016
Externally publishedYes
Event2016 American Control Conference - Boston Marriott Copley Place, Boston, United States
Duration: 6 Jul 20168 Jul 2016
http://acc2016.a2c2.org/

Conference

Conference2016 American Control Conference
Location Boston Marriott Copley Place
Country/TerritoryUnited States
CityBoston
Period06/07/201608/07/2016
Internet address

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