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LQR Controller with Kalman Estimator Applied to UAV Longitudinal Dynamics
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作者 Chingiz Hajiyev Sitki Yenal Vural 《Positioning》 2013年第1期36-41,共6页
The aim of this study is designing an optimal controller with linear quadratic regulator (LQR) method for a small unmanned air vehicle (UAV). To better evaluate the effect of disturbances on the obtained measurements ... The aim of this study is designing an optimal controller with linear quadratic regulator (LQR) method for a small unmanned air vehicle (UAV). To better evaluate the effect of disturbances on the obtained measurements a Kalman filter is also used in the system. For this purpose a small UAV that is normally used as a radio controlled plane is chosen. The linearized equations for a wings level flight condition and the state space matrices are obtained. An optimal controller using LQR method to control the altitude level is then designed. The effect of the disturbances on the measurements are taken into account and the effectiveness of the Kalman filter in obtaining the correct measurements and achieving the desired control level are shown using the controller designed for the system. The small UAV is commanded to the desired altitude using the LQR controller through the control inputs elevator deflection and thrust rate. The LQR effectiveness matrices are chosen to find the gains necessary to build an effective altitude controller. Firstly the controller is tested under the situation where disturbances are absent. Then a Kalman filter is designed and the system under disturbances is tested with the designed controller and the filter. The results reveal the effectiveness of the Kalman filter and the LQR controller. 展开更多
关键词 Unmanned Air Vehicle lqr controller Kalman Filter Stability Analysis
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Vibration Control of FGM Piezoelectric Plate Based on LQR Genetic Search
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作者 Kouider Bendine Rajan L. Wankhade 《Open Journal of Civil Engineering》 2016年第1期1-7,共7页
Active vibration control of functionally graded material (FGM) plate with integrated piezoelectric layers is studied. In this regard, a finite element model based on the classical plate theory is adopted and extended ... Active vibration control of functionally graded material (FGM) plate with integrated piezoelectric layers is studied. In this regard, a finite element model based on the classical plate theory is adopted and extended to the case of FGM plate to obtain a space state equation. Rectangular four node and eight node elements are used for the analysis purpose. The material proprieties of FG plate are assumed to be graded along the thickness direction. In order to control the vibration of the plate, an LQR controller has been designed and developed. The weighing factors are obtained by using genetic algorithm. The proposed results of finite element modeling are verified with the results obtained using ANSYS. Also the validation of methodology is done with comparing the results with that of available in literature and found in well agreement. Further analysis is performed for three sets of power law exponent n = 0, 1 and 100 which gives benchmark results for vibration control of FGM piezoelectric plate. 展开更多
关键词 Functionally Graded Material PIEZOELECTRIC lqr controller Genetic Algorithm
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Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431 被引量:1
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作者 Huu Chan Thanh Nguyen An-Wen Shen 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2013年第4期85-92,共8页
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit... The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position. 展开更多
关键词 Arm Driven Inverted Pendulum (ADIP) adaptive gain scheduling lqr control lqr control swing up pendlum
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INTEGRATED CONTROL FOR VEHICLE YAW MOTION USING DOUBLE-COST-FUNCTION LQR 被引量:5
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《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2000年第3期228-233,共7页
关键词 In INTEGRATED CONTROL FOR VEHICLE YAW MOTION USING DOUBLE-COST-FUNCTION lqr
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Robust Control Design of Wheeled Inverted Pendulum Assistant Robot 被引量:2
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作者 Magdi S.Mahmoud Mohammad T.Nasir 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第4期628-638,共11页
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint... This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator(LQR), linear quadratic Gaussian control(LQG), H_2 control and H_∞ control. Simulation is performed for all the approaches yielding good performance results. 展开更多
关键词 I-PENTAR robot linear quadratic regulator(lqr) control design model predictive control(MPC) observerbased feedback control robust H_∞ control
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Lateral Stability Improvement of Car-Trailer Systems Using Active Trailer Braking Control 被引量:1
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作者 Tao Sun Yuping He Ebrahim Esmailzadeh Jing Ren 《Journal of Mechanics Engineering and Automation》 2012年第9期555-562,共8页
An active trailer braking controller to improve the lateral stability of car-trailer systems is presented. The special and complex structures of these types of vehicles exhibit unique unstable motion behavior, such as... An active trailer braking controller to improve the lateral stability of car-trailer systems is presented. The special and complex structures of these types of vehicles exhibit unique unstable motion behavior, such as the trailer swing, jack-knifing and rollover. These unstable motion modes may lead to fatal accidents. The effects of passive mechanical parameters on the stability of car-trailer systems have been thoroughly investigated. Some of the passive parameters, such as the center of gravity of the trailer, may be drastically varied during various operating conditions. Even for an optimal design of a car-trailer system, based on a specific passive parameter set, the lateral stability cannot be guaranteed. In order to improve the lateral stability of car-trailer systems, an active trailer braking controller is designed using the Linear Quadratic Regular (LQR) technique. To derive the controller, a vehicle model with 3 Degrees Of Freedom (DOF) is developed to represent the car-trailer system. A single lane-change maneuver has been simulated to examine the performance of the controller and the numerical results are compared with those of the baseline design. The benchmark investigation indicates that the optimal controller based on the LQR technique can effectively improve the high-speed lateral stability of the car-trailer system. 展开更多
关键词 Car-trailer systems active trailer braking control lqr (linear quadratic regular) controller high-speed lateral stability.
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Control method for semi-active suspension based on virtual prototype
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作者 梁宇 《Journal of Chongqing University》 CAS 2005年第1期6-8,共3页
The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and phy... The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and physical models. The virtual prototype has remarkable advantages in its application simulation processes. It is not only faster and more veracious, but also of better visualization of the simulation results. 展开更多
关键词 semi-active suspension virtual prototype linear-quadratic regulator (lqr) control
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On modal energy in civil structural control
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作者 Miao PANG Tie-jiong LOU Ming ZHAO 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2008年第7期878-887,共10页
A new control strategy based on modal energy criterion is proposed to demonstrate the effectiveness of the control system in reducing structural earthquake responses. The modal control algorithm combining LQR(linear q... A new control strategy based on modal energy criterion is proposed to demonstrate the effectiveness of the control system in reducing structural earthquake responses. The modal control algorithm combining LQR(linear quadratic regulator) control algorithm is adopted in the discrete time-history analysis. The various modal energy forms are derived by definition of the generalized absolute displacement vector. A preliminary numerical study of the effectiveness of this control strategy is carried out on a 20-storey framed steel structural model. The controlled performance of the model is studied from the perspectives of both response and modal energy. Results show that the modal energy-based control strategy is very effective in reducing structural responses as well as in consuming a large amount of modal energy,while augmentation of additional generalized control force corresponding to the modes that contain little modal energy is unnecessary,as it does little help to improve the controlled structural performance. 展开更多
关键词 Modal energy Aseismic control lqr (linear quadratic regulator) control algorithm Modal space Generalized single-degree-of-freedom (SDOF) system
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A hybrid LQR-PID control design for seismic control of buildings equipped with ATMD 被引量:5
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作者 Amir Hossein HEIDARI Sadegh ETEDALI Mohamad Reza JAVAHERI-TAFTI 《Frontiers of Structural and Civil Engineering》 SCIE EI CSCD 2018年第1期44-57,共14页
This paper presents an efficient hybrid control approach through combining the idea of proportional- integral-derivative (PID) controller and linear quadratic regulator (LQR) control algorithm. The proposed LQR-PI... This paper presents an efficient hybrid control approach through combining the idea of proportional- integral-derivative (PID) controller and linear quadratic regulator (LQR) control algorithm. The proposed LQR-PID controller, while having the advantage of the classical PID controller, is easy to implement in seismic-excited structures. Using an optimization procedure based on a cuckoo search (CS) algorithm, the LQR-PID controller is designed for a seismic- excited structure equipped with an active tuned mass damper (ATMD). Considering four earthquakes, the performance of the proposed LQR-PID controller is evaluated. Then, the results are compared with those given by a LQR controller. The simulation results indicate that the LQR-PID performs better than the LQR controller in reduction of seismic responses of the structure in the terms of displacement and acceleration of stories of the structure. 展开更多
关键词 eismic control tuned mass dampers cuckoo search PID controller lqr controller
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Dynamic wheeled motion control of wheel-biped transformable robots 被引量:1
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作者 Chao Zhang Tangyou Liu +2 位作者 Shuang Song Jiaole Wang Max Q-H.Meng 《Biomimetic Intelligence & Robotics》 2022年第2期1-8,共8页
Most existing biped robots can only walk with their feet or move by wheels.To combine the best of both worlds,this paper introduces the dynamic wheeled control including wheeled locomotion and in-situ wheel-to-foot(Wt... Most existing biped robots can only walk with their feet or move by wheels.To combine the best of both worlds,this paper introduces the dynamic wheeled control including wheeled locomotion and in-situ wheel-to-foot(WtF)transformation of a full-sized wheel-biped transformable robot SR600-II.It can traverse on flat surfaces by wheels and transform to footed stance through its switching modules when facing obstacles.For wheeled locomotion,the kinematics considering upper-body lumped center-of-mass(CoM)constraint is first derived.Then,the dynamics of wheeled locomotion is modeled as a wheeled inverted pendulum(WIP)with variables related to the pose of upper body.After that,a parameter-varying linear quadratic regulator(LQR)controller is utilized to enable dynamic wheeled locomotion.For WtF transformation,the WtF balance constraints are first revealed.Then,a WtF transformation strategy is proposed to tackle the problem when robot transforms from wheeled balance state to in-situ biped stance state.It enables the robot to pass by the transition stages in which both wheels and feet touch the ground and to maintain its balance at the same time.Simulations and experiments on the SR600-II prototype have validated the efficacy of proposed dynamic wheeled control strategies for both wheeled locomotion and in-situ WtF transformation. 展开更多
关键词 Wheel-biped transformable robot Dynamic control Wheeled locomotion Parameter-varying lqr control Wheel-to-foot transformation
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A linear quadratic regulator control of a stand-alone PEM fuelcell power plant
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作者 Amar BENAISSA Boualaga RABHI +1 位作者 Ammar MOUSSI Dahmani AISSA 《Frontiers in Energy》 SCIE CSCD 2014年第1期62-72,共11页
This paper introduces a technique based on linear quadratic regulator (LQR) to control the output voltage at the load point versus load variation from a stand- alone proton exchange membrane (PEM) fuel cell power ... This paper introduces a technique based on linear quadratic regulator (LQR) to control the output voltage at the load point versus load variation from a stand- alone proton exchange membrane (PEM) fuel cell power plant (FCPP) for a group housing use. The controller modifies the optimal gains ki by minimizing a cost function, and the phase angle of the AC output voltage to control the active and reactive power output from an FCPP to match the terminal load. The control actions are based on feedback signals from the terminal load, output voltage and fuel cell feedback current. The topology chosen for the simulation consists of a 45 kW proton exchange membrane fuel cell (PEMFC), boost type DC/ DC converter, a three-phase DC/AC inverter followed by an LC filter. Simulation results show that the proposed control strategy operated at low commutation frequency (2 kHz) offers good performances versus load variations with low total harmonic distortions (THD), which is very useful for high power applications. 展开更多
关键词 modeling of proton exchange membrane fuel cell (PEMFC) controlling of PEMFC. linear quadraticregulator lqr DC/DC converter DC/AC inverter
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