Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment
High-precision positioning of two underwater mobile robots based on laser beams alignment has been investigated in this work. Usually, the control problem addressed in laser beams aims to maintain the position of the receiver robot aligned with the transmitter robot despite the effects of noise and...
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Photonics Journal |
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| Online Access: | https://ieeexplore.ieee.org/document/9257016/ |
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| author | Asem Alalwan Tadjine Mohamed Messaoud Chakir Taous Meriem Laleg |
| author_facet | Asem Alalwan Tadjine Mohamed Messaoud Chakir Taous Meriem Laleg |
| author_sort | Asem Alalwan |
| collection | DOAJ |
| description | High-precision positioning of two underwater mobile robots based on laser beams alignment has been investigated in this work. Usually, the control problem addressed in laser beams aims to maintain the position of the receiver robot aligned with the transmitter robot despite the effects of noise and active disturbances. In this paper, a new state space model is proposed. The latter is more precise than the usual used two state space model [1]. Furthermore, an estimation based control strategy using Extended Kalman Filter Estimator (EKF) and Linear Quadratic Regulator (LQR) is proposed to achieve the control objectives. LQR controller is well known as optimal control design with better tuning flexibility along with intrinsic robustness properties such as noise and output disturbance rejections. The achieved performance of the proposed controller is compared to the conventional proportional (P), Proportional-Integral-Derivative (PID) and Proportional-Integral (PI) controller to analyze the improvements and stability. In addition, an investigation of a sensitivity analysis is conducted to show robustness with different process noise variances of LQR controller. |
| format | Article |
| id | doaj-art-b3762a2324d6403fb18c93cb84b2b96f |
| institution | Kabale University |
| issn | 1943-0655 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Photonics Journal |
| spelling | doaj-art-b3762a2324d6403fb18c93cb84b2b96f2025-08-20T03:30:52ZengIEEEIEEE Photonics Journal1943-06552020-01-0112611210.1109/JPHOT.2020.30372239257016Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication AlignmentAsem Alalwan0https://orcid.org/0000-0001-7671-143XTadjine Mohamed1Messaoud Chakir2Taous Meriem Laleg3https://orcid.org/0000-0001-5944-0121King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi ArabiaControl Systems and Applied Mathematics, National Polytechnic School ENP of Algiers. 10, St Hacen Badi, El Harrach, Algiers, AlgeriaControl Systems and Applied Mathematics, National Polytechnic School ENP of Algiers. 10, St Hacen Badi, El Harrach, Algiers, AlgeriaKing Abdullah University of Science and Technology (KAUST), Thuwal, Saudi ArabiaHigh-precision positioning of two underwater mobile robots based on laser beams alignment has been investigated in this work. Usually, the control problem addressed in laser beams aims to maintain the position of the receiver robot aligned with the transmitter robot despite the effects of noise and active disturbances. In this paper, a new state space model is proposed. The latter is more precise than the usual used two state space model [1]. Furthermore, an estimation based control strategy using Extended Kalman Filter Estimator (EKF) and Linear Quadratic Regulator (LQR) is proposed to achieve the control objectives. LQR controller is well known as optimal control design with better tuning flexibility along with intrinsic robustness properties such as noise and output disturbance rejections. The achieved performance of the proposed controller is compared to the conventional proportional (P), Proportional-Integral-Derivative (PID) and Proportional-Integral (PI) controller to analyze the improvements and stability. In addition, an investigation of a sensitivity analysis is conducted to show robustness with different process noise variances of LQR controller.https://ieeexplore.ieee.org/document/9257016/Control designextended kalman filter (EKF)linear quadratic regulator (LQR)underwater wireless optical communication (UWOC) |
| spellingShingle | Asem Alalwan Tadjine Mohamed Messaoud Chakir Taous Meriem Laleg Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment IEEE Photonics Journal Control design extended kalman filter (EKF) linear quadratic regulator (LQR) underwater wireless optical communication (UWOC) |
| title | Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment |
| title_full | Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment |
| title_fullStr | Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment |
| title_full_unstemmed | Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment |
| title_short | Extended Kalman Filter Based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment |
| title_sort | extended kalman filter based linear quadratic regulator control for optical wireless communication alignment |
| topic | Control design extended kalman filter (EKF) linear quadratic regulator (LQR) underwater wireless optical communication (UWOC) |
| url | https://ieeexplore.ieee.org/document/9257016/ |
| work_keys_str_mv | AT asemalalwan extendedkalmanfilterbasedlinearquadraticregulatorcontrolforopticalwirelesscommunicationalignment AT tadjinemohamed extendedkalmanfilterbasedlinearquadraticregulatorcontrolforopticalwirelesscommunicationalignment AT messaoudchakir extendedkalmanfilterbasedlinearquadraticregulatorcontrolforopticalwirelesscommunicationalignment AT taousmeriemlaleg extendedkalmanfilterbasedlinearquadraticregulatorcontrolforopticalwirelesscommunicationalignment |