Continuous/Discrete-Time SDRE: Gravity Compensation
This page presents the MATLAB codes for continuous and discrete-time SDRE controllers considering gravity compensation.
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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.
General Information
- Version 1.0.2 (11 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
