The present paper introduces a novel minimal control-effort and control-time, proportional-derivative feedback control theory for second-order dynamical systems on Lie groups. The devised control theory is particularised to achieve time-synchronisation of rotational systems, with special reference to a master-slave pair of quad-rotor drones. Minimal control-effort and control-time regulation is achieved through an empirical algorithm to infer the optimal values of the proportional and derivative gain.
Minimal control effort and time Lie-group synchronisation design based on proportional-derivative control / Fiori, S.; Del Rossi, L.. - In: INTERNATIONAL JOURNAL OF CONTROL. - ISSN 0020-7179. - ELETTRONICO. - (2022), pp. 1-13. [10.1080/00207179.2020.1780474]
Minimal control effort and time Lie-group synchronisation design based on proportional-derivative control
Fiori S.
Conceptualization
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2022-01-01
Abstract
The present paper introduces a novel minimal control-effort and control-time, proportional-derivative feedback control theory for second-order dynamical systems on Lie groups. The devised control theory is particularised to achieve time-synchronisation of rotational systems, with special reference to a master-slave pair of quad-rotor drones. Minimal control-effort and control-time regulation is achieved through an empirical algorithm to infer the optimal values of the proportional and derivative gain.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
