Show simple item record

dc.contributor.authorAl-Alwan, Asem Ibrahim Alwan
dc.contributor.authorTadjine, Mohamed
dc.contributor.authorChakir, Messaoud
dc.contributor.authorLaleg-Kirati, Taous-Meriem
dc.date.accessioned2020-11-12T05:33:49Z
dc.date.available2020-11-12T05:33:49Z
dc.date.issued2020
dc.identifier.citationAlalwan, A., Tadjine, M., Chakir, M., & Laleg, T. M. (2020). Extended Kalman Filter based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment. IEEE Photonics Journal, 1–1. doi:10.1109/jphot.2020.3037223
dc.identifier.issn1943-0647
dc.identifier.doi10.1109/JPHOT.2020.3037223
dc.identifier.urihttp://hdl.handle.net/10754/665916
dc.description.abstractHigh-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 which is more precise than the usual used two state space model. 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.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.urlhttps://ieeexplore.ieee.org/document/9257016/
dc.relation.urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9257016
dc.rightsThis work is licensed under a Creative Commons Attribution 4.0 License.
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectUnderwater Wireless Optical Communication (UWOC)
dc.subjectLinear Quadratic Regulator (LQR)
dc.subjectExtended Kalman Filter (EKF)
dc.subjectControl Design
dc.titleExtended Kalman Filter based Linear Quadratic Regulator Control for Optical Wireless Communication Alignment
dc.typeArticle
dc.contributor.departmentComputational Bioscience Research Center (CBRC)
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentElectrical Engineering Program
dc.contributor.departmentEstimation, Modeling and ANalysis Group
dc.identifier.journalIEEE Photonics Journal
dc.eprint.versionPublisher's Version/PDF
dc.contributor.institutionENP, 107826 Alger, Alger Algeria
kaust.personAl-Alwan, Asem Ibrahim Alwan
kaust.personLaleg-Kirati, Taous-Meriem
refterms.dateFOA2020-11-12T05:34:49Z


Files in this item

Thumbnail
Name:
extended kalman.pdf
Size:
1.650Mb
Format:
PDF
Description:
Published version

This item appears in the following Collection(s)

Show simple item record

This work is licensed under a Creative Commons Attribution 4.0 License.
Except where otherwise noted, this item's license is described as This work is licensed under a Creative Commons Attribution 4.0 License.