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A comparison between optimal LQR control and LQR predictive control of a planar robot of 2DOF
2020 IEEE XXVII International Conference on Electronics, Electrical Engineering and Computing (INTERCON), 2020This work employs a LQR (Linear Quadratic Regulator) predictive control as well as a LQR controller to control the angular servomotor positions of a planar robot of 2DOF (2 Degrees of Freedom). The goal of such a pantograph type robot is to manipulate the X–Y positions of a 4–bar linkage end effector using two rotary servo base units connected to two ...
A. Ortegan-Vidal +2 more
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On stochastic LQR design and polynomial chaos
2008 American Control Conference, 2008In this paper we develop a novel theoretical framework for linear quadratic regulator design for linear systems with probabilistic uncertainty in the parameters. The framework is built on the generalized polynomial chaos theory, which can handle Gaussian, uniform, beta and gamma distributions.
James Fisher, Raktim Bhattacharya
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LQR model with noise amplification
Proceedings of 1995 American Control Conference - ACC'95, 2005We examine the control of a linear system in which the noise is amplified by a quantity which is quadratic in the state and in the control. We develop the Bellman-Hamilton-Jacobi partial differential equation for our problem, assuming a quadratic cost index. We find that the optimal control can also be expressed in conventional feedback form, u/sup opt/
D. Zes, R.W. Bass
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2022 8th International Conference on Automation, Robotics and Applications (ICARA), 2022
Bdereddin Abdul Samad +4 more
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Bdereddin Abdul Samad +4 more
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Design and Performance of LQR and LQR based Fuzzy Controller for Double Inverted Pendulum System
Journal of Image and Graphics, 2013 Abstract—The objective of this paper is to compare performance between two type of controller for a double inverted pendulum system. Double inverted pendulum is a non-linear, unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be ...
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Quanser's 3-DOF Helicopter control using LQR-I and MPC-based LQR controllers
2023 International Conference on Control, Automation and Diagnosis (ICCAD), 2023Oussama Lahmar +2 more
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H2/H∞ Formulation of LQR Controls Based on LMI for Continuous-Time Uncertain Systems
International Journal of Systems Science, 2021Marcelo Teixeira +2 more
exaly
Stable and Robust LQR Design via Scenario Approach
Automatica, 2021Gianluigi Pillonetto, Aleksandr Aravkin
exaly