Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 129 for “"LQR"”.
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Distributed LQR control of multi-agent systems
… decoupled agents controlled by a centralized LQR (Linear Quadratic Regulator) based controller. The structure of the solution, as well as controller's spectral and robustness properties are presented. A special case of centralized control where the optimal solution for the whole network can be …
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Modeling and LQR Control of a Two-Dimensional Airfoil
… using MATLAB. Linear Quadratic Regulator (LQR) theory is used to design a state feedback controller. The LQR control scheme consists of using a full state feedback controller of the form u=-Kx, where K is a control gain matrix. The goal is to use LQR theory to supress flutter and to …
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State Feedback Design Methods: Eigenstructure Assignment and LQR Cost Functional Synthesis
… the synthesis of Linear Quadratic Regulator (LQR) cost functional weighting matrices.
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Methods of Computing Functional Gains for LQR Control of Partial Differential Equations
… methods for linear quadratic regulator (LQR) problems defined by parabolic partial differential equations. In particular, we study various methods for computing functional gains to boundary control problems for the heat equation. These methods require us to solve various equations …
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ROBUST CONTROL OF AN EVTOL THROUGH TRANSITION WITH A GAIN SCHEDULING LQR CONTROLLER
… the transition dynamics in a gain scheduling LQR attitude controller to robustly control the vehicle at any point throughout transition. The proposed control strategy is tested through implementation in nonlinear 3DOF and 6DOF simulations. The robustness of the controller is tested through …
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An Iterative LQR Method for Addressing Model Uncertainty in the Mars Entry Problem
… an iterative Linear-Quadradic-Regulator (iLQR). iLQR is an efficient and powerful method for trajectory optimization derived from Differential Dynamic Programming (DDP) principles, which have been applied successfully in cases of robotic movement to locally improve upon a single trajectory …
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Approximation of the LQR control problem for systems governed by partial functional differential equations
We present an abstract framework for state space formulation and a generalized theorem on well-posedness which can be applied to a class of partial functional differential equations which arise in the modeling of viscoelastic and certain thermo-viscoelastic systems. Examples to which the theory …
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Gain-scheduled multivariable control for the GE-21 turbofan engine using the LQR and LQG/LTR methodologies
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1984.
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Control of a nonlinear underactuated system with adaptation, numerical stability verification, and the use of the LQR Trees algorithm
… controller. In addition, the algorithm known as LQR Trees is applied to the system in order to create a controller with a larger region of attraction and lower torque requirements, though without an adaptive component. Both control systems are implemented in simulations using MATLAB.
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Online Parameter Adaptation of LQR Controllers via RLS for Prosthetic Joint Control: Experimental Validation on a Quanser Qube-Servo 2 Platform
… an online adaptive Linear Quadratic Regulator (LQR) control method for prosthetic joint systems using Recursive Least Squares (RLS)-based real-time parameter estimation on the Quanser QUBE-Servo 2 platform. Traditional LQR controllers assume a fxed system model, which limits adaptability and …
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Control of quad-rotor UAVs using switched-system synthesis methods
… synthesis and linear quadratic regulator (LQR) theory to control of a quad-rotor unmanned aerial vehicle (UAV). The thesis presents the development of the system dynamics, the theory of LQR and its implementation, the synthesis and simulation results of switched control of the UAV, which …
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A pseudo-optimal control approach for a redundant degree-of-freedom in a gimbaled mechanical system
… of applying a Linear Quadratic Regulator (LQR) to the control of the redundant degree-of-freedom present in a four gimbal inertial navigation system. Equations of motion for a four gimbal system are defined and linearized. A benchmark controller is developed, using classical time and …
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Deformable Object Manipulation with a Tactile Reactive Gripper
… dynamics and used a linear quadratic regulator (LQR) controller to keep the cable centered within the grip. However, the underlying dynamics are not linear, so in this work, we explore controllers that take advantage of a non-linear underlying dynamics model. We use Gaussian process (GP) …
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Design of robust active trailer steering controllers for multi-trailer articulated heavy vehicles using software/hardware-in-the-loop real-time simulations
… In recent years, the Linear Quadratic Regular (LQR) technique has been applied to the design of controllers for ATS systems of Articulated Heavy Vehicles (AHVs). In the LQR-based controller designs, all vehicle system parameters, e.g., forward speed and operating conditions, are assumed to be …
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Active control of tensegrity structures and its applications using Linear Quadratic Regulator algorithms
… From there, the Linear Quadratic Regulator (LQR) algorithm is introduced as a possible method to be used in designing active control. A planar tensegrity beam is described, whose form was found by the force density method. A simulation is then conducted, which applies the LQR algorithm to …
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Development and analysis of active rear axle steering for 8x8 combat vehicle
… vehicle speed, and a Linear Quadratic Regulator (LQR) controller that monitors the steering angle and compares the vehicle yaw rate and sideslip angle to the desired values calculated at steady state. These controllers are evaluated by performing simulations using a previously validated 8x8 combat …
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Optimal Control of Multiple Quadrotors for Transporting a Cable Suspended Payload
… such as the Linear Quadratic Regulator LQR, the Iterative based LQR (ILQR), the Model Predictive Control MPC and the dynamic game controller to solve tracking control problems in terms of stabilisation, accuracy, constraints and collision avoidance. The LQR control was applied to the …
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Comparison of Modern Controls and Reinforcement Learning for Robust Control of Autonomously Backing Up Tractor-Trailers to Loading Docks
… of the gains for the Linear Quadratic Regulator (LQR) rely heavily on having an accurate model of the plant. However, real-world applications cannot expect to have an updated model for each new trailer. Finding alternative robust controllers when the trailer model is changed was the motivation of …
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Conceptual Design and Simulation of An Inverted Pendulum Wheelchair
… (2) PID and (3) Linear Quadratic Regulator (LQR). The stabilisation and tracking command performance of each control strategy is examined through simulation. The result shows all these three control strategies are capable to control the inverted pendulum system. But as the spherical inverted …
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Polynomial Chaos Approaches to Parameter Estimation and Control Design for Mechanical Systems with Uncertain Parameters
… system design the study has focused on the LQR problem when dealing with parametric uncertainties. The LQR problem was written as an optimality problem using Lagrange multipliers in an extended form associated with the polynomial chaos framework. The solution to the Hâ problem as well as the …
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