scholarly journals An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

Automatika ◽  
2021 ◽  
Vol 62 (3-4) ◽  
pp. 415-433
Author(s):  
Mohamad Norherman Shauqee ◽  
Parvathy Rajendran ◽  
Nurulasikin Mohd Suhadis
Keyword(s):  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Altitude Control

A Study on Linear Quadratic Regulator with the Desired Low-Pass Property

2013 ◽  
Vol 133 (12) ◽  
pp. 2167-2175 ◽  
Author(s):  
Katsuhiko Fuwa ◽  
Satoshi Murayama ◽  
Tatsuo Narikiyo
Keyword(s):  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Low Pass

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

scholarly journals Distributed Linear Quadratic Regulator Robust to Communication Dropouts

2020 ◽  
Vol 53 (2) ◽  
pp. 3072-3078
Author(s):  
C. Amo Alonso ◽  
D. Ho ◽  
J.M. Maestre
Keyword(s):  
Linear Quadratic Regulator ◽  
Linear Quadratic

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

Modeling and Stability Enhancement of Wind Turbine using Linear Quadratic Regulator

2020 ◽  
Author(s):  
Shaharyar Yousaf ◽  
Neelam Mughees ◽  
Abdullah Mughees ◽  
Ali Abbas ◽  
Syed Zulqadar Hassan ◽  
...  
Keyword(s):  
Wind Turbine ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Stability Enhancement
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