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 26 for “"LQR Control"”.
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Distributed LQR control of multi-agent systems
The thesis develops optimal control methods for designing distributed cooperative control schemes in multi-agent networks. First, the model of a completely connected multi-agent network is presented, consisting of identical dynamically decoupled agents controlled by a centralized LQR (Linear …
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Modeling and LQR Control of a Two-Dimensional Airfoil
… model is used to design a flutter suppression controller. Flutter is a vibration in a wing caused by airstream energy being absorbed by the lifting surface. Flutter increases with increasing speed. For simplicity, we consider a flat plate in a two-dimensional flow. The model is developed in the …
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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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Approximation of the LQR control problem for systems governed by partial functional differential equations
… problem for singular kernels and of the control problem for bounded kernels. We use techniques of semigroup theory to establish the results on well-posedness and convergence.
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Improving Leader-Follower Formation Control Performance for Quadrotors
… and the iterative Linear Quadratic Regulator (iLQR), to stabilisation, path tracking and leader-follower team formation control problems. Existing solutions for stabilisation, path tracking and leader-follower team formation control have addressed a linear or nonlinear control technique for a …
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An optimal control problem for a Timoshenko beam
… algorithms for constructing design models for LQR control of a Timoshenko structure. We consider two finite element schemes and compare their robustness property. The functional gains are also compared against their counterpart when an Euler-Bernoulli model is used to describe the dynamics of …
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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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Distributed Parameter Control of Thermal Fluids
We consider the problem of controlling a thermal convection flow by feedback. The system is governed by the Boussinesq approximation of the coupled set of Navier-Stokes and heat equations. The control is applied through Dirichlet boundary conditions. We concentrate on a two-dimensional mode and use …
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Optimal Control of Multiple Quadrotors for Transporting a Cable Suspended Payload
… thesis, the main aim is to improve the flight control performance for a cable suspended payload with single and two quadrotors based on optimised control techniques. The study utilised optimal controllers, such as the Linear Quadratic Regulator LQR, the Iterative based LQR (ILQR), the Model …
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Experiments and simulations of large-angle flexible beam control using an adaptive truss
… and analytical investigation of flexible beam control using an adaptive truss positioned in an equilibrium configuration such that the beam is parallel to the gravity field. A linear model of the system is derived, and a linear LQR control law is designed. Control experiments are conducted and …
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Active Stabilization of Thermoacoustic Oscillation
… which can be overcome by the use of active control. This thesis addresses the problem of actively controlling thermoacoustic instabilities in a laboratory test com- bustion chamber. Different strategies for actuation are discussed and evaluated experimentally. Relations to industrial …
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Conceptual Design and Simulation of An Inverted Pendulum Wheelchair
… concept is based around the dynamic and control of spherical inverted pendulum.The investigation starts with the stabilisation of the inverted pendulum using some various control strategies and command tracking capabilities also evaluated. Several different type control strategies are …
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DESIGN AND ANALYSIS OF CONTROLLERS FOR BOOST CONVERTER USING LINEAR AND NONLINEAR APPROACHES
… are electronic circuits for conversion, control and regulation of electric power for various applications, such as from tablet computers in milliwatts to electric power systems at megawatts range. There are three basic types of power converters: buck (output voltage less than the input …
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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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A Polynomial Chaos Approach to Control Design
A method utilizing H2 control concepts and the numerical method of Polynomial Chaos was developed in order to create a novel robust probabilistically optimal control approach. This method was created for the practical reason that uncertainty in parameters tends to be inherent in system models. As …
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Stabilized Finite Element Methods for Feedback Control of Convection Diffusion Equations
… in the context of linear quadratic regulator (LQR) control problems for convection diffusion equations. The motivation for this effort comes from the observation that when linearization is applied to fluid flow control problems the resulting equations have the form of a convection diffusion …
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A pseudo-optimal control approach for a redundant degree-of-freedom in a gimbaled mechanical system
… large platform excursions while avoiding the uncontrollable condition of gimbal lock. The thesis investigates the benefits 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 …
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Attitude and formation control design and system simulation for a three-satellite CubeSat mission
… challenges of a formation flight mission is the control of the relative motion between spacecraft. Before any flagship missions will launch, technology development missions will be required to demonstrate the utility and functionality of formation flying systems. This thesis describes the …
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Design of active trailer steering systems for long combination vehicles using robust control techniques
… have utilised the Linear Quadratic Regulator (LQR) control technique. Although the LQR technique provides satisfactory results, it fails to control the system in presence of external disturbances such as sensor noise, parametric uncertainties, and un-modelled dynamics. This encourages the need …
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Analysis And Modeling Of The Eds Maglev System Based On The Halbach Permanent Magnet Array
… in lateral, roll, pitch, and yaw directions, the control was simplified and can be implemented electronically. The dynamic stability analysis and simulation results showed that the system is marginally stable and a control mechanism is needed for stability and ride comfort control. The six degree …
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