Trajectory Tracking of NPS II UAV using SDRE

Versione 1.0.1 (9,41 KB) da Saeed Rafee Nekoo
This code applies nonlinear trajectory tracking control SDRE on non-affine model of NPS II under water vehicle.
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Aggiornato 22 set 2020

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Nonlinear dynamics of the underwater vehicles in 6-degree-of-freedom is highly nonlinear and non-affine in control. NPS II is a well-known UAV model. These codes present SDRE control of NPS II UAV in trajectory tracking case in non-affine mode where the input relations are nonlinear. The dynamics and control structure could be followed in:
Geranmehr, Behdad, and Saeed Rafee Nekoo. "Nonlinear suboptimal control of fully coupled non-affine six-DOF autonomous underwater vehicle using the state-dependent Riccati equation." Ocean Engineering 96 (2015): 248-257.

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Geranmehr, Behdad, and Saeed Rafee Nekoo. "Nonlinear suboptimal control of fully coupled non-affine six-DOF autonomous underwater vehicle using the state-dependent Riccati equation." Ocean Engineering 96 (2015): 248-257.

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Versione Pubblicato Note della release
1.0.1

Riccati solver update
1.0.0