Forward integration of SDDRE controller on flapping-wing flying robot: increasing sampling rate, towards computational efficiency
Saeed Rafee Nekoo, Anı́bal Ollero · Journal of Control and Decision · 2025
The design of a flapping-wing flying robot (FWFR) requires lightweight components to increase the thrust-to-weight ratio for the robot; therefore, the components are subjected to a trade-off between strength, power, and weight. The processor of the FWFR must be selected as lightweight as possible, and satisfy the computational speed requirements. Microcomputers are suitable, subject to the use of a simple operating system and programme for control implementation; this approach avoids massive computations. In the execution of nonlinear optimal control, the state-dependent Riccati equation (SDRE), on such a setup, predefined libraries should be used, which impose a delay in the solution. A solution method to the SDRE is suggested, considering the differential form of the Riccati equation, the so-called state-dependent differential Riccati equation (SDDRE). A solution using forward integration is introduced to increase the sampling rate significantly. This faster solution provides the possibility of a safer control implementation.