Results 31 to 40 of about 16,024 (227)
A Fuzzy LQR PID Control for a Two-Legged Wheel Robot with Uncertainties and Variant Height
Journal of Robotics and Control (JRC), 2023 This paper proposes a fuzzy LQR PID control for a two-legged wheeled balancing robot for keeping stability against uncertainties and variant heights. The proposed control includes the fuzzy supervisor, LQR, PID, and two calibrations.
D. Tran +4 more
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IEEE Robotics and Automation Letters, 2023 This letter formulates a fuzzy-immune adaptive system for the online adjustment of the Degree-of-Stability (DoS) of Linear-Quadratic-Regulator (LQR) procedure to strengthen the disturbance attenuation capacity of a self-balancing mechatronic system.
Omer Saleem, J. Iqbal
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Event-based LQR with integral action [PDF]
Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA), 2014 In this paper, a state-feedback linear-quadratic regulator (LQR) is proposed for event-based control of a linear system. An interesting property of LQRs is that an optimal response of the system can be obtained in accordance to some specifications, like the actuator limits.
Durand, Sylvain +4 more
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Data-Enabled Policy Optimization for Direct Adaptive Learning of the LQR [PDF]
IEEE Transactions on Automatic ControlDirect data-driven design methods for the linear quadratic regulator (LQR) mainly use offline or episodic data batches, and their online adaptation remains unclear.
Feiran Zhao +3 more
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LQR Control with Sparse Adversarial Disturbances
2022 IEEE 61st Conference on Decision and Control (CDC), 2022 61st IEEE Conference on Decision and ...
Samuel Pfrommer, Somayeh Sojoudi
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About the loss of robustness of the LQG/LTR compensator [PDF]
INCAS BulletinIt is known that the optimal LQR regulator (Linear Quadratic Regulator) with full state feedback has remarkable robustness properties, defined by gain margins of (1/2, ) and phase of at least ± 60 degrees.
Ioan URSU, Adrian TOADER
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On the Role of Regularization in Direct Data-Driven LQR Control
IEEE Conference on Decision and Control, 2022 The linear quadratic regulator (LQR) problem is a cornerstone of control theory and a widely studied benchmark problem. When a system model is not available, the conventional approach to LQR design is indirect, i.e., based on a model identified from data.
Florian Dörfler, P. Tesi, C. D. Persis
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A Comparative Study of LQR and Sliding Control for Ball and Beam System [PDF]
Robotica & ManagementIn this paper, we will survey two controllers, a linear control (LQR) and sliding mode control (SMC) on a central axis ball and beam (B&B) – a single input-multiple output (SIMO) system through simulation and experiment.
Ich-Long Tran +7 more
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LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops [PDF]
IEEE Robotics and Automation Letters, 2020 We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex ...
Victor Klemm +7 more
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LQR Control for Five-Link Pendubot [PDF]
Robotica & Management, 2021 Pendubot is a popular inverted pendulum model in control engineering. Usually, two-link pendubot is used due to its simplicity in mechanical structure and its nonlinear characteristic.
Xuan-Dung Huynh +6 more
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