Simulation of SDRE for Rotary Drone Pendulum

This work presents codes for the simulation swinging-up and stabilization of adrone-based pendulum using the SDRE nonlinear optimal control.

The codes are for the simulation section of the mentioned article below:

Saeed Rafee Nekoo, J. Yao and A. Ollero, "Finite-Time and Infinite-Time Horizon State-Dependent Riccati Equation for Swinging-Up and Control of a Rotary Drone Pendulum," 2024 International Conference on Unmanned Aircraft Systems (ICUAS), Chania - Crete, Greece, 2024, pp. 1370-1376, doi: 10.1109/ICUAS60882.2024.10557127.

https://doi.org/10.1109/ICUAS60882.2024.10557127

The control, prototyping, and experimentation of rotor-based systems (aerial robotic platforms) were highlighted recently for rotation around pipes for inspection, measurement, and maintenance. The application of the rotary inspection comes from chemical plants and, the oil and gas industry where in some cases, access to all perimeters of the pipes is difficult. Rotary aerial systems then are good candidates. Here in this work, a novel system is proposed for rotary inspection based on a two-link rotary drone pendulum. The modeling of the system released highly nonlinear dynamics. Finite-time and infinite-time horizon state-dependent Riccati equation (SDRE) are chosen to control the system, both in the domain of nonlinear optimal control. These nonlinear controllers are suitable for handling the dynamics and the finite horizon design offers a rapid response for swinging up and stabilization around the pipe. Solving this challenge in control enables us to move forward with the design and implementation of the system on a real setup and prototype. The Simulation and comparison of finite-time (state-dependent differential Riccati equation (SDDRE)) and infinite-time SDRE were done; it showed successful regulation with faster response and less error for the finite-time method.

Please read the paper for more information on notation and method, you may contact the corresponding author for more information.