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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Actualizado 26 Oct 2021

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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

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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.

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