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 68 for “"Linear-Quadratic Regulator (LQR)"”.
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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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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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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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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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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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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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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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Reduced Order Methods for Large Scale Riccati Equations
Solving the linear quadratic regulator (LQR) problem for partial differential equations (PDEs) leads to many computational challenges. The primary challenge comes from the fact that discretization methods for PDEs typically lead to very large systems of differential or differential algebraic …
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Design optimization of active trailer differential braking systems for car-trailer combinations
… are proposed, which are designed using the Linear Quadratic Regulator (LQR) and 𝐻∞ robust control techniques. In order to design the ATDB controllers, a linear 3 degrees of freedom (DOF) and a linear 5-DOF model are generated and validated with a nonlinear CT model derived using CarSim …
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Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle
… modeled to motivate and guide the development of Linear Quadratic Regulator (LQR) controllers for maneuvering the quadrotor. The controllers are tuned using a motion capture system which provides ground truth state measurements. The vision system is integrated into the control scheme to allow the …
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Enhancing roll stability and directional performance of articulated heavy vehicles based on anti-roll control and design optimization.
… anti-roll control systems. A 3-dimensional (3-D) linear yaw/roll model with 5 degrees of freedom is developed. Based on this model a linear quadratic regulator (LQR) controller is designed to improve the rollover stability of a tractor/semi-trailer combination. A design optimization method for …
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Modelling, design, and control of a spherical rolling robot
… for the simulation. The system dynamics were linearized and used to design a linear quadratic regulator (LQR) controller. Sphere mass and center of mass location were varied across a range of values and simulated to analyze the system's ability to quickly converge to position and velocity set …
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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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Estimation of vertical load on a tire from contact patch length and its use in vehicle stability control
… was used for developing the control strategy. A linear quadratic regulator (LQR) was designed for the purpose of controlling the yaw rate and maintaining vehicle stability.
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Computational Approaches to Improving Room Heating and Cooling for Energy Efficiency in Buildings
… and MATLAB. A methodology is developed to design Linear Quadratic Regulator (LQR) controllers and associated functional gains in MATLAB which can be implemented in COMSOL. These "closed-loop" methods are then tested numerically in COMSOL and compared against "open-loop" and average state …
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Conceptual Design and Simulation of An Inverted Pendulum Wheelchair
… These include (1) pole placement (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. …
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Dynamics and control of flexible spacecraft : a case study
… lengthy (even in the matrix form), highly nonlinear, nonautonomous and coupled set of equations amenable only to a numerical solution. Two distinctly different discretization procedures, using the system modes and the component modes, are applied to the design as well as the Lagrange …
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Proximity operations of a miniature inspector satellite using emulated computer vision
… an autonomous control algorithm that combines Linear Quadratic Regulator (LQR) and Artificial Potential Field (APF) control. This controller is designed to navigate through waypoints, follow the contours of an inspected spacecraft's surface, avoid obstacles, operate in real-time onboard the …
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Deformable Object Manipulation with a Tactile Reactive Gripper
… grip while sliding along it. The authors used linear regression to model the cable sliding 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 …
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