A method for realization of nonlinear state-dependent coefficients regulators based on microcontroller memory

摘要

We investigate a nonlinear stabilizing regulator with coefficients depending on the state built for nonlinear systems. Usage of a quadratic cost function allows to develop a control with coefficients that include the solution of the Riccati equation. A rather common approach is to solve this equation online which requires making high performance calculations that is not appropriate for some applications such as UAV autopilots. The method represented in this article is useful when the system state space is compact and the performance or weight of a control device is more critical than memory size. Thus, we can sample state space with some accuracy. It is offered to calculate regulator gain coefficients in advance and to keep them in memory of the control device. Assessment of the regulator gain coefficients quantity and memory size depending on accuracy of system state space sampling is provided. The algorithm of the next gain coefficient fast search is given. The numerical simulation of a UAV controlled by such a regulator is made for verification.