Continuous/Discrete-Time SDRE: Gravity Compensation

Version 1.0.2 (11 KB) by Saeed Rafee Nekoo

This page presents the MATLAB codes for continuous and discrete-time SDRE controllers considering gravity compensation.

5.0

(2)

76 Downloads

Updated 26 Oct 2021

View License

The codes present simulations for a manipulator and a hexacopter drone controlled by SDRE in the continuous and discrete-time domain. Gravity compensation was done to provide the signal for maintaining the system at desired condition. The codes are related to the article:

Nekoo, S.R., Acosta, J.Á., Ollero, A.: Gravity compensation and optimal control of actuated multibody system dynamics. IET Control Theory Applications. 1–15 (2021). https://doi.org/10.1049/cth2.12206

Cite As

Nekoo, S.R., Acosta, J.Á., Ollero, A.: Gravity compensation and optimal control of actuated multibody system dynamics. IET Control Theory Appl. 1–15 (2021) https://doi.org/10.1049/cth2.12206.