LQR algorithm

Bài viết nghiên cứu giải thuật trên đối tượng bóng thanh trục giữa (BTTG) - một hệ thống một vào - nhiều ra (single input - multi output - SIMO) kinh điển. Nghiên cứu áp dụng giải thuật di truyền (genetic algorithm - GA) để hỗ trợ tìm một bộ thông số điều khiển tuyến tính sát với thông số điều khiển phù hợp với đối tượng.

12p viohoyo 25-04-2024 3 2   Download

The aim of this paper is to use genetic algorithm to identify parameters of a nonlinear balancing system. In this case, single-linked inverted pendulum was chosen. With identified parameters of nonlinear model, a LQR controller was designed to prove that parameters were identified well. Results which were operated in Matlab/ Simulink environment showed that identifying process was good.

6p vidoctorstrange 06-05-2023 5 1   Download

This paper presents a direction for creating a cheap RIP. Thence, authors apply LQR, a balancing control algorithm, and Furuta, a classical swing up the controller, on this model. Both controllers are designed based on a mathematical model of a real system.

9p vidoctorstrange 06-05-2023 7 4   Download

Most kinds of robots in researches are in solid structures. In these models, Euler-Lagrange method is easily used to obtain dynamic equations for simulation and obtaining controllers. But, actually, there is always flexibility - even very small or remarkable – in all kinds of robots. This research solves a problem in modelling a complex robot with a flexible link-flexible inverted pendulum- by presenting a method to simplify that robot.

8p vidoctorstrange 06-05-2023 6 4   Download

The paper introduces the LQR (liner quadratic regulator) controller optimization method by GA (genetic algorithm) controlling the inverted pendulum on a cart. The paper also presents the model’s kinetic equation. Authors build up the LQR controllers to stabilize the model. Q matrix is selected by both experiences and GA.

7p vidoctorstrange 06-05-2023 7 2   Download

In this article, the authors use three control algorithms on the inverted wedge, including of LQR, Fuzzy Control and neuro-fuzzy. Simulation results show that all methods can balance the inverted wedge.

8p vidoctorstrange 06-05-2023 8 2   Download

The proposal presents the design of a voltage con-troller for a three-phase inverter. At first, the state-space model of the inverter with uncertainties and system pa-rameters variation taken into account is constructed. The proposed controller combines a feedback component and a disturbance compensator. The first one is accomplished using LQR control law which can be approximated by reinforcement learning algorithm.

5p vistephenhawking 26-04-2022 13 2   Download

Trong bài viết này, nhóm tác giả lựa chọn đối tượng là mô hình xe đạp tự thăng bằng được điều khiển bởi một bánh đà. Từ đó, các kết quả nghiên cứu về giải thuật di truyền (Genetic Algorithm-GA) nhằm tối ưu hóa bộ điều khiển LQR truyền thống được công bố.

8p vidili2711 08-07-2020 54 5   Download

In this paper, a robust PI controller in combination with a linear quadratic regulator (LQR) is proposed to control a two-wheeled inverted pendulum robot (TWIPR) such that it is kept balanced while moving. The proposed TWIPR control system consists of two control loops. The inner loop has two PI controllers for two DC motors’ currents, which are separately designed based on a robust PI controller structure. The outer loop contains a LQR controller for the tilt angle, heading angle and position of the TWIPR.

15p 12120609 01-06-2020 26 2   Download

In this paper, output tracking properties of an optimal receding horizon control algorithm for a thick slab heating furnace are verified in a closely real environment. This control algorithm was already developed by the authors earlier. The verification is carried out using Simscape libraries to model and simulate the thermal transmission inside a thick slab in a heating furnace.

9p viengland2711 23-07-2019 22 0   Download

—The paper presents the design of a Linear Quadratic Regulator (LQR) controller for an Inverted Pendulum (IP) system using The Bees Algorithm (BA) to provide optimal parameters of LQR. Inverted Pendulum is a typical highly nonlinear and unstable system and widely used as a benchmark for testing different control techniques in control theory.

4p praishy2 27-02-2019 43 2   Download

In a previous paper, the identification algorithm is presented for feedback active controlled systems to identify the excitation from the structural response measured. The aim of this paper is to propose a feedback-feedfonvard control algorithm using the identified excitation to improve the classical LQR control. A numerical simulation is applied to an eight story building subjected to base acceleration and controlled by active mass damper system.

10p thienthanquydu 21-10-2018 22 1   Download