LQR controller
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The inverted pendulum on a cart is a challenging and widely studied control problem in the fields of control systems and robotics. To address the need for more effective control strategies, this article presents a novel approach that combines the strengths of two powerful control techniques: Linear-Quadratic Regulator (LQR) and Takagi-Sugeno (T-S) fuzzy control.
15p vibego 02-02-2024 3 1 Download
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Bài viết Kết hợp bộ điều khiển LQR và CBF nâng cao chất lượng điều khiển cho robot cân bằng trên bóng (Ballbot) trình bày các nội dung: Giới thiệu về Ballbot; Mô hình hóa cho Ballbot; Thiết kế bộ điều khiển LQR kết hợp kỹ thuật ràng buộc an toàn (CBF - control barrier function).
3p vigeorge 06-12-2023 8 5 Download
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This paper introduces an innovative method for achieving stability of the highly nonlinear and unstable double inverted pendulum using a combination of linear matrix inequality (LMI) techniques and sliding mode control (SMC). Sliding mode control is a widely used technique for stabilizing the highly unstable and nonlinear double inverted pendulum system.
7p vimichaelfaraday 14-12-2023 6 5 Download
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The paper develops effective swing-up energy-based control and stabilization task. It also presents two controllers, linear quadratic regulator (LQR) and hierarchical sliding mode control (HSMC), that effectively handle the stabilization problem.
9p vijeff 30-11-2023 5 3 Download
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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
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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
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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
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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
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In this paper, the abilities of Sliding Mode Control are shown its abilities in both simulation and experiment results. On Matlab/Simulink simulation, Sliding Mode Control proves its advantages over LQR control. Then, experiments show the results of applying a sliding control for real model.
9p vidoctorstrange 06-05-2023 6 4 Download
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The article presents a solution for stabilizing a double inverted pendulum using a Fuzzy logic controller and a Linear-Quadratic Regulator (LQR) controller. The entire system has been modeled and tested by Matlab/Simulink toolbox.
8p vidoctorstrange 06-05-2023 11 3 Download
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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
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Rotary Inverted Pendulum (RIP) plays a vital role in control engineering. Rotary Inverted Pendulum is a complex, nonlinear, non-minimum-phase and under-actuated system which has various applications in the field of Robotics. The main contribution of this paper is to design and control RIP by using Linear Quadratic Regulator (LQR) controller for stabilization at vertically upright position - the unstable equilibrium point, and Linear Quadratic Tracker (LQT) controller for tracking the desired trajectory.
11p vicaptainmarvel 21-04-2023 8 4 Download
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This paper presents the results of applied research on the theoretical basis of the linear quadratic regulator (LQR) to control the semi-active suspension system for bus to enhance the smooth movement on rough road.
4p vilexus 05-10-2022 8 2 Download
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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
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This paper surveys the effect of velocity on the stability of tractors - semi trailers. Tractors - semi trailer is modelled and simulated using Matlab - Simulink software on the time domain in the cornering manuever. The results show that rollover of the trailer - semi trailer occurred when the forward velocity at the front and rear axle of the tractor reached 62.97km/h and 54.62km/h. and the velocity at the rear axle of semi trailer is 57.91km/h.
4p caygaocaolon10 05-02-2021 19 1 Download
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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
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Bài viết đề cập tới vấn đề phân tích mô hình toán tàu thủy 3 bậc tự do thiếu cơ cấu chấp hành (3 DOF) trên mặt phẳng ngang. Nghiên cứu thiết kế bộ điều khiển chuyển động tàu thủy theo quỹ đạo dựa theo nguyên lý tối ưu RHC (Receding Horizon Control) trên nền LQR (Linear Quadratic Regulator ) thông qua việc tuyến tính hóa từng đoạn mô hình dọc theo trục thời gian cho đối tượng tàu thủy ba bậc tự do thiếu cơ cấu chấp hành với mô hình phi tuyến.
6p vimante2711 05-03-2020 49 1 Download
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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
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In this paper, a method to estimate the disturbance which considers input noise affect the system based on the observation is proposed. When the motion system is influenced by the input noise that means the control signal is added with a mount of disturbance.
6p thithizone 16-07-2019 19 1 Download
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In this paper the principle operation of a conventional output feedback receding horizon controller based on LQR is presented quickly first and then some opportunities to improve its performance by integrating into intelligent control scheme are discussing.
12p visumika2711 17-07-2019 6 0 Download