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 104 for “"Linear Quadratic Regulator"”.
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Active control of tensegrity structures and its applications using Linear Quadratic Regulator algorithms
… they intended to achieve. 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 …
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A multi-loop guidance scheme using singular perturbation and linear quadratic regulator techniques simultaneously
A design method for a multi-loop mixed discrete/continuous trajectory following pitch control algorithm for a generic aerospace vehicle is presented. This design methodology is facilitated by a time scale separation observed in the dynamical system. Two variations of this algorithm are considered, …
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State Feedback Design Methods: Eigenstructure Assignment and LQR Cost Functional Synthesis
… ("eigenstructure"), and (ii) the synthesis of Linear Quadratic Regulator (LQR) cost functional weighting matrices.
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Integrated entry guidance and control for autonomous reusable launch vehicles
… and control technique based on time-invariant linear quadratic regulator theory is presented. This approach integrates the guidance and control functions into a single multivatiable control loop that theoretically should yield improved performance over classical designs and greatly simplify the …
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Methods of Computing Functional Gains for LQR Control of Partial Differential Equations
… focuses on a comparison of numerical 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 …
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A Nonlinear Magnetic Controller for Three-Axis Stability of Nanosatellites
… controller and a constant coefficient linear quadratic regulator, are applied to the system of equations describing the motion of the spacecraft. The stability of each is checked for different spacecraft configurations through simulations, and the results for gravity-gradient stable and …
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Approximation and control of a thermoviscoelastic system
… element/averaging scheme to approximate the linear quadratic regulator problem governed by the system. We prove that yields faster convergence. We give a proof of convergence of the simulation problem for singular kernels and of the control problem for L2 kernels. We carry on the numerical …
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Comparison of Modern Controls and Reinforcement Learning for Robust Control of Autonomously Backing Up Tractor-Trailers to Loading Docks
… The closed form calculation 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 …
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Biped walking trajectory design and stabilization
… along with a simplified dynamics model, the linear inverted pendulum model (LIPM), to design a dynamically stable trajectory for the biped robot, based on given gaits. Two different approaches will be used for the trajectory generation: boundedness constraint and linear-quadratic-regulator …
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Model-free tracking control of an optical fiber drawing process using deep reinforcement learning
… in the presence of stochasticity and non-linear delayed dynamics of the system. With about 3.5 hours of real-time training, it outperformed other control models such as open-loop control, proportional-integral (PI) control, and quadratic dynamic matrix control (QDMC) in terms of diameter …
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Improving Leader-Follower Formation Control Performance for Quadrotors
… Unmanned Aerial Vehicles (UAVs) by applying nonlinear robust and optimal techniques, in particular the nonlinear H_infinity and the iterative Linear Quadratic Regulator (iLQR), to stabilisation, path tracking and leader-follower team formation control problems. Existing solutions for …
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Modeling and Slew-Maneuver Control of a Flexible Spacecraft
… which a long flexible appendage is attached. Nonlinear dynamical system models are developed using both distributed parameter modeling and discrete parameter modeling; these models are shown to be equivalent for appropriately chosen system parameters. Lyapunov-based nonlinear feedback controllers …
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Approximation and Control of the Boussinesq Equations with Application to Control of Energy Efficient Building Systems
… to locally exponentially stabilize the nonlinear Boussinesq Equations by applying Neumann/Robin type boundary control on a bounded and connected domain. The feedback controller is obtained by solving a Linear Quadratic Regulator problem for the linearized Boussinesq equations. Applying …
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Modeling and LQR Control of a Two-Dimensional Airfoil
… model is numerically simulated 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 …
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Controller Design for a Swirl Injection Hybrid Launch Vehicle
… research. The proposed controllers include a linear quadratic regulator, PD-type controller, affine parameter-dependent Lyapunov function based controller, and an adaptive controller. These controllers must meet the goal of stabilizing the launch vehicle within the main engine’s burn time. …
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Virtual Reality Modeling of a Car Suspension with Active Control Capability
… available to the system include the well known Linear Quadratic Regulator (LQR) as well as a new Nonlinear Energy Absorber (NEA) which utilizes both nonlinear springs and nonlinear damper. The mathematics of the plant, the kinematics of the system, and the visual specifications of the scene are …
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Development of active trailer steering systems for pickup truck-trailer combinations
… and ensure the safety of combination vehicles. Linear Quadratic Regulator (LQR) is a popular control technique to design ATS systems. Although this technique has demonstrated consistent results, this controller is not effective in the presence of parametric uncertainties. Therefore, a robust …
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Optimal control theory applied to ship maneuvering in restricted waters
… maneuvering equations of motion are cast in a linear state space framework, permitting the design of a linear quadratic (LQ) controller. In addition, the hydrodynamic effects are modeled using potential flow theory in order to simulate the interaction forces and test the efficacy of the …
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Prototype development and testing of active yaw moment control system using vehicle momentum wheel
… discussed. Control system is designed using the Linear-Quadratic Regulator (LQR) theory, calculates the necessary torque required to apply to the vehicle chassis in order to generate the corrective yaw moment. Kalman filter is used to supress the sensors noise and any irregularities in the system …
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Design and Implementation of a Control System for a Quadrotor MAV
… For flight stability, the vehicle incorporates a linear quadratic regulator to augment its dynamics for hover. The quadrotor's nonlinear dynamics are linearized about hover in order to be used in controller formulation. Feedback comes both directly from sensors and a Luenberger observer that …
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