A sensitivity based methodology is presented for choosing the best possible gains parametrization in a SDRE (State Riccati Dependent Equation) controller. Both direct and adjoint sensitivity methods are used, together with a dynamic inversion of the system, in order to optimize the performances of that kind of controller. Special attention is given to the choice of state and control matrices defining the criteria to be minimized by the Riccati equation. It is described how various deterministic and statistical sensitivity approaches may help to parametrize in a suboptimal way the matrices. A feed-forward/feedback steering control strategy for a vehicle has been chosen as application. Obstacle avoiding simulation results are shown and compared with a similar strategy where the feedback block is obtained by adaptive gains. The performance improvements are shown in terms of path tracking when compared with the on-line optimization.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Sensitivity based gains choice for a SDRE vehicle steering control strategy


    Additional title:

    Empfindlichkeitsbasierte Verstärkungseinstellung für die Fahrzeuglenkung mit der Lösung einer zustandsabhängigen Riccati-Gleichung


    Contributors:


    Publication date :

    2006


    Size :

    7 Seiten, 13 Tabellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    SDRE control strategy applied to a nonlinear robotic including drive motor

    de Lima, Jeferson J. / Tusset, Angelo M. / Janzen, Frederic C. et al. | American Institute of Physics | 2014


    SDRE Trajectory Tracking Control for a Hovercraft Autonomous Vehicle

    Pagotti, Ana Paula / Rafikova, Elvira / Rafikov, Marat | Springer Verlag | 2018


    SDRE Based Guidance and Flight Control of Aircraft Formations

    Tekinalp, Ozan / Kumbasar, Sarper | AIAA | 2015


    Numerical SDRE Approach for Missile Integrated Guidance - Control

    Vaddi, Sesha / Menon, Padmanabhan / Ohlmeyer, Ernest | AIAA | 2007