In this article, a suboptimal nonlinear discrete control sequence for nonlinear discrete affine control systems is proposed. Using the dynamic programming approach in discrete time domain, the suboptimal control sequence is obtained in every step considering a quadratic performance index of finite horizon. The proposed control strategy is applied to improve the dynamic and energetic performances of a quadrotor unmanned aerial vehicle, when it is subject to special maneuvers or flight conditions, such as the take off and landing phases or trajectory tracking. For these tasks, it could be required convergence in finite time and good behavior. Performing a comparative experimental study with others controllers (optimal linear and PD controllers), the effectiveness of proposed approach is proven.

中文翻译：

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四旋翼有限水平非线性最优控制：实验结果

在本文中，提出了非线性离散仿射控制系统的次优非线性离散控制序列。使用离散时域中的动态规划方法，在每个步骤中都考虑了有限水平的二次性能指标，获得了次优控制序列。当受到特殊操纵或飞行条件（例如起飞和着陆阶段或轨迹跟踪）的影响时，所提出的控制策略可用于改善四旋翼无人机的动态和能量性能。对于这些任务，可能需要在有限的时间内收敛并表现良好。与其他控制器（最佳线性和PD控制器）进行了对比实验研究，证明了该方法的有效性。