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The Minimal Directed Information Needed to Improve the LQG Cost
IEEE Conference on Decision and Control, 2020We study a linear quadratic Gaussian (LQG) control problem, in which a noisy observation of the system state is available to the controller. To lower the achievable LQG cost, we introduce an extra communication link from the system to the controller.
Oron Sabag +3 more
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Revisit of LQG Control–A New Paradigm with Recovered Robustness
IEEE Conference on Decision and Control, 2019In this paper, a revisit of the classical LQG control is performed with a new design paradigm which is motivated by the well-known Youla-Kučera parameterization of all stabilizing controllers. In particular, it is shown that this new paradigm renders the
Xiang Chen, K. Zhou, Ying Tan
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T-LQG: Closed-loop belief space planning via trajectory-optimized LQG
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017Planning under motion and observation uncertainties requires the solution of a stochastic control problem in the space of feedback policies. In this paper, by restricting the policy class to the linear feedback polices, we reduce the general (n2 + n)-dimensional belief space planning problem to an (n)-dimensional problem.
Mohammadhussein Rafieisakhaei +2 more
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MT-LQG: Multi-agent planning in belief space via trajectory-optimized LQG
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017Belief space planning is concerned with the problem of finding the control policy under process and measurement uncertainties. Formulated as a stochastic control problem, the solution of a general Decentralized Partially Observed Markov Decision Process (Dec-POMDP) is a collection of feedback policies for individual agents, maximizing a joint value ...
Mohammadhussein Rafieisakhaei +2 more
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LQG controller design for a quadrotor UAV based on particle swarm optimisation
International Journal of Automation and Control, 2019This paper deals with the modelling and the linear quadratic Gaussian (LQG) control design of a quadrotor unmanned aerial vehicle (UAV) using different particle swarm optimisation (PSO) variants.
Rabii Fessi, S. Bouallègue
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Stochastics, 1986
A natural adaptive Linear Quadratic Regulator is studied. The optimal control is shown to be the conditional expectation, given the observations, of the linear quadratic control computed assuming the true parameter were known. Moreover this control is stabilizing.
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A natural adaptive Linear Quadratic Regulator is studied. The optimal control is shown to be the conditional expectation, given the observations, of the linear quadratic control computed assuming the true parameter were known. Moreover this control is stabilizing.
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A balanced LQG compensator for flexible structures
Automatica, 1993Abstract LQG compensator gains (i.e. the gains of a controller and of an estimator) are obtained from solutions of Riccati equations. For the balanced compensator the solutions are equal and diagonal. An approximately balanced LQG compensator for flexible structures is analyzed in this paper.
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On the bilinear transformation of LQG-balanced realizations
Automatica, 1995Abstract This contribution shows that some useful properties of LQG-balanced realizations of continuous-time systems are preserved by applying bilinear transformations. This fact suggests that LQG-balancing of discrete systems and its approximation can be performed by using the typical schemes successfully adopted for continuous-time systems.
FORTUNA L. +2 more
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LQG homing problem with a maximin cost
Journal of the Franklin Institute, 2012zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Cloud Makasu, Mario Lefebvre
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1988
In this chapter an autopilot is proposed which will minimise the added resistance due to steering and in addition will significantly improve the course-keeping performance in all weather conditions. To achieve these control objectives a new dynamic cost function is formulated which will be optimised in a stochastic linear quadratic gaussian (LQG ...
J. Byrne, M. R. Katebi
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In this chapter an autopilot is proposed which will minimise the added resistance due to steering and in addition will significantly improve the course-keeping performance in all weather conditions. To achieve these control objectives a new dynamic cost function is formulated which will be optimised in a stochastic linear quadratic gaussian (LQG ...
J. Byrne, M. R. Katebi
openaire +1 more source