scholarly journals Sistem Kendali Penghindar Rintangan Pada Quadrotor Menggunakan Konsep Linear Quadratic

2017 ◽  
Vol 7 (2) ◽  
pp. 219
Author(s):  
Ariesa Budi Zakaria ◽  
Andi Dharmawan
Keyword(s):  
Control System ◽  
Response Time ◽  
Obstacle Avoidance ◽  
Rise Time ◽  
Pulse Width Modulation ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Aerial Vehicle ◽  
Avoidance Control ◽  
Aircraft Type

Quadrotor is one of UAV (Unmanned Aerial Vehicle) rotary wing aircraft type. Quadrotor has been widely used for various needs to military or civilian. Quadrotor can be operated manually by remote or autonomously. One of the difficulties of quadrotor operations is to avoid the obstacles before autonomous flying towards destination point. Therefore, an obstacle avoidance control system is required on quadrotor systems. Linear Quadratic Regulator is a control system that produces an input value system from state value and feedback. State value is produced from translation and rotation. That input value then converted into pulse width modulation to control the speed of the brusless motor, and it's used to do obstacles avoidance manouver.This method might reduce overshoot on the system and make response time (rise time) arrived faster than other methods. The obstacle avoidance system requires small overshoot value and an appropriate response time to avoid frictions or collisions. The result of this research is the rise time to avoid obstacles that reached 4,7 second with flight speed of 0,6 m/s and turns for roll angle equal to 14,27 °, pitch equal to 13,26 °, and yaw equal to 9,87 ° while avoidance maneuvering obstacles.

Fuzzy neural network control algorithm for asymmetric building structure with active tuned mass damper

2020 ◽  
Vol 26 (21-22) ◽  
pp. 2037-2049
Author(s):  
Xiao Yan ◽  
Zhao-Dong Xu ◽  
Qing-Xuan Shi
Keyword(s):  
Neural Network ◽  
Control System ◽  
Fuzzy Neural Network ◽  
Linear Quadratic Regulator ◽  
Tuned Mass Damper ◽  
Linear Quadratic ◽  
Mass Damper ◽  
Fuzzy Neural ◽  
Neural Network Algorithm ◽  
Damper Control

Asymmetric structures experience torsional effects when subjected to seismic excitation. The resulting rotation will further aggravate the damage of the structure. A mathematical model is developed to study the translation and rotation response of the structure during seismic excitation. The motion equations of the structures which cover the translation and rotation are obtained by the theoretical derivations and calculations. Through the simulated computation, the translation and rotation response of the structure with the uncontrolled system, the tuned mass damper control system, and active tuned mass damper control system using linear quadratic regulator algorithm are compared to verify the effectiveness of the proposed active control system. In addition, the linear quadratic regulator and fuzzy neural network algorithm are used to the active tuned mass damper control system as a contrast group to study the response of the structure with different active control method. It can be concluded that the structure response has a significant reduction by using active tuned mass damper control system. Furthermore, it can be also found that fuzzy neural network algorithm can replace the linear quadratic regulator algorithm in an active control system. Because fuzzy neural network algorithm can control the process on an uncertain mathematical model, it has more potential in practical applications than the linear quadratic regulator control method.

scholarly journals Satellite Attitude Control System Design Taking into Account the Fuel Slosh and Flexible Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Alain G. de Souza ◽  
Luiz C. G. de Souza
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Center Of Mass ◽  
Rigid Motion ◽  
Linear Quadratic Regulator ◽  
Comparative Investigation ◽  
Attitude Control System ◽  
Linear Quadratic ◽  
Deformable Structure ◽  
Fuel Slosh

The design of the spacecraft Attitude Control System (ACS) becomes more complex when the spacecraft has different type of components like, flexible solar panels, antennas, mechanical manipulators and tanks with fuel. The interaction between the fuel slosh motion, the panel’s flexible motion and the satellite rigid motion during translational and/or rotational manoeuvre can change the spacecraft center of mass position damaging the ACS pointing accuracy. This type of problem can be considered as a Fluid-Structure Interaction (FSI) where some movable or deformable structure interacts with an internal fluid. This paper develops a mathematical model for a rigid-flexible satellite with tank with fuel. The slosh dynamics is modelled using a common pendulum model and it is considered to be unactuated. The control inputs are defined by a transverse body fixed force and a moment about the centre of mass. A comparative investigation designing the satellite ACS by the Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) methods is done. One has obtained a significant improvement in the satellite ACS performance and robustness of what has been done previously, since it controls the rigid-flexible satellite and the fuel slosh motion, simultaneously.

Autopilot design for an aircraft by using Luenberger observer design

2018 ◽  
Vol 90 (5) ◽  
pp. 858-868 ◽  
Author(s):  
Muhammad Taimoor ◽  
Li Aijun ◽  
Rooh ul Amin ◽  
Hongshi Lu
Keyword(s):  
Design Methodology ◽  
Research Work ◽  
Linear Quadratic Regulator ◽  
Observer Design ◽  
Linear Quadratic ◽  
Content Type ◽  
Luenberger Observer ◽  
Level Flight ◽  
Aerial Vehicle ◽  
The Cost

Purpose The purpose of this paper is to design linear quadratic regulator (LQR) based Luenberger observer for the estimation of unknown states of aircraft. Design/methodology/approach In this paper, the LQR-based Luenberger observer is deliberated for autonomous level flight of unmanned aerial vehicle (UAV) which has been attained productively. Various modes like phugoid and roll modes are exploited for controlling the rates of UAV. The Luenberger observer is exploited for estimation of the mysterious states of the system. The rates of roll, yaw and pitch are used as an input to the observer, while the remaining states such as velocities and angles have been anticipated. The main advantage of using Luenberger observer was to reduce the cost of the system which has been achieved lucratively. The Luenberger observer proposes sturdiness at the rate of completion to conquest over the turmoil and insecurities to overcome the privileged recital. The FlightGear simulator is exploited for the endorsement of the recital of the Luenberger observer-based autopilot. The level flight has been subjugated lucratively and has been legitimated by exploiting the FlightGear simulator. The authenticated and the validated results are offered in this paper. Microsoft Visual Studio has been engaged as a medium between the MATLAB and FlightGear Simulator. Findings The suggested observer based on LQR ensures the lucrative approximation of the unknown states of the system as well as the successful level flight of the system. The Luenberger observer is used for approximation of states while LQR is used as controller. Originality/value In this research work, not only the estimation of unknown states of both longitudinal and lateral model is made but also the level flight is achieved by using those estimated states and the autopilot is validated by using the FlightGear, while in most of the research work only the estimation is made of only longitudinal or lateral model.

scholarly journals The linear quadratic regular algorithm-based control system of the direct current motor

2019 ◽  
Vol 10 (2) ◽  
pp. 768
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Direct Current ◽  
State Space Model ◽  
Linear Quadratic Regulator ◽  
Response Speed ◽  
Dc Motor ◽  
Linear Quadratic ◽  
Lqr Controller ◽  
Mathematical Equations ◽  
Feed Forward Controller

<span>This research aims to propose an optimal controller for controlling the speed of the Direct Current (DC) motor. Based on the mathematical equations of DC Motor, the author builds the equations of the state space model and builds the linear quadratic regulator (LQR) controller to minimize the error between the set speed and the response speed of DC motor. The results of the proposed controller are compared with the traditional controllers as the PID, the feed-forward controller. The simulation results show that the quality of the control system in the case of LQR controller is much higher than the traditional controllers. The response speed always follows the set speed with the short conversion time, there isn't overshoot. The response speed is almost unaffected when the torque impact on the shaft is changed.</span>

scholarly journals Perancangan Kendali Optimal pada Motor Arus Searah Tanpa Sikat melalui Metode LQRI

2019 ◽  
Vol 7 (2) ◽  
pp. 377 ◽  
Author(s):  
KHOIRUDIN FATHONI ◽  
ARYO BASKORO UTOMO
Keyword(s):  
Rise Time ◽  
Load Condition ◽  
Linear Quadratic Regulator ◽  
Settling Time ◽  
Control Signal ◽  
Bldc Motor ◽  
Linear Quadratic ◽  
Cost Matrix ◽  
R Matrix ◽  
Set Point

ABSTRAKArtikel ini akan menjelaskan perancangan kendali kecepatan MASTS  dengan tujuan diperoleh respon kecepatan MASTS yang tanggap serta memiliki sinyal kendali dan arus minimal. Untuk mencapai hal ini MASTS akan dikendalikan melalui metode Linear Quadratic Regulator (LQR) dengan state yang dipilih adalah arus, kecepatan, dan state integral galat kecepatan. Diperlukan penalaan nilai parameter Q matriks bobot state dan R matriks bobot input untuk mendapatkan performa kecepatan dan arus yang terbaik. Berdasarkan pengujian diperoleh bahwa dengan kendali LQR-I, kecepatan MASTS dapat mengikuti set point dengan respon rise time Tr = 0,03 detik, settling time Ts=0,044 detik, overshoot (OS) 1,6 %, arus Imax=0,16 A dan dutycycle sinyal kontrol umax 56% pada kondisi tanpa beban dan Tr = 0,03 detik, Ts=0,044 detik, OS 1,6 %, Imax=0,16 A dan umax 56% pada kondisi berbeban. Dibandingkan dengan kendali PID ketika tanpa beban mempunyai Tr=0,0176 Ts=0,075 %OS=3,9% umax=96% Imax=0,35 A, LQRI mempunyai respon settling time, sinyal kendali dan arus yang lebih baik.Kata kunci: Motor Arus Searah Tanpa Sikat, Kendali Optimal, Linear  Quadratic Regulator dan Integral ABSTRACTThis paper aimed to discuss further research about BLDC motor speed control so that BLDC not only has fast speed response but also has minimum control signal and current using LQR (Linear Quadratic Regulator) control with chosen states are current, speed of BLDC, and speed error integral state. Tuning of Q and R matrix is required to reach the best speed and current performance. Where Q and R matrix is state cost matrix and input cost matrix, respectively. Result show that LQR-I control can track set point with rise time Tr = 0.03 s, settling time Ts=0,044 s, overshoot (OS) 1,6 %, current Imax=0,16 A and dutycycle control signal umax 56% in no load condition, and Tr = 0,03 s, Ts=0,044 s, OS 1,6 %, Imax=0,16 A dan umax 56% in the load condition. Compared to PID controller which has Tr=0,0176 Ts=0,075 %OS=3,9% umax=96% Imax=0,35 A in no load condition, proposed controller has a better settling time, control signal and current.Keywords: BLDC Motor, Optimal Control, LQR and Integral

Linear Quadratic Regulator Method in Vision-Based Laser Beam Tracking for a Mobile Target Robot

Robotica ◽  
2020 ◽  
pp. 1-11
Author(s):  
Yun Ling ◽  
Jian Wu ◽  
Weiping Zhou ◽  
Yubiao Wang ◽  
Changcheng Wu
Keyword(s):  
Control System ◽  
Laser Beam ◽  
Tracking Control ◽  
Error Control ◽  
Linear Quadratic Regulator ◽  
Lyapunov Theory ◽  
State Function ◽  
Linear Quadratic ◽  
Mobile Target ◽  
Beam Tracking

SUMMARY This paper proposes a novel laser beam tracking mechanism for a mobile target robot that is used in shooting ranges. Compared with other traditional tracking mechanisms and modules, the proposed laser beam tracking mechanism is more flexible and low cost in use. The mechanical design and the working principle of the tracking module are illustrated, and the complete control system of the mobile target robot is introduced in detail. The tracking control includes two main steps: localizing the mobile target robot with regards to the position of the laser beam and tracking the laser beam by the linear quadratic regulator (LQR). First of all, the state function of the control system is built for this tracking system; second, the control law is deduced according to the discretized state function; lastly, the stability of the control method is proved by the Lyapunov theory. The experimental results demonstrate that the Hue, Saturation, Value feature-extracting method is robust and is qualified to be used for localization in the laser beam tracking control. It is verified through experiments that the LQR method is of better performance than the conventional Proportional Derivative control in the aspect of converge time, lateral error control, and distance error control.

scholarly journals Swing Vibration Control of Suspended Structure Using Active Rotary Inertia Driver System: Parametric Analysis and Experimental Verification

2019 ◽  
Vol 9 (15) ◽  
pp. 3144 ◽  
Author(s):  
Chunwei Zhang ◽  
Hao Wang
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Vibration Control ◽  
Parametric Analysis ◽  
Linear Quadratic Regulator ◽  
Shaking Table ◽  
Rotary Inertia ◽  
System Control ◽  
Linear Quadratic ◽  
Control Effectiveness

The Active Rotary Inertia Driver (ARID) system is a novel vibration control system that can effectively mitigate the swing vibration of suspended structures. Parametric analysis is carried out using Simulink based on the mathematical model and the effectiveness is further validated by a series of experiments. Firstly, the active controller is designed based on the system mathematical model and the LQR (linear quadratic regulator) algorithm. Next, the parametric analysis is carried out using Simulink to study the key parameters such as the coefficient of the control algorithm, the rotary inertia ratio. Lastly, the ARID system control effectiveness and the parametric analysis results are further validated by the shaking table experiments. The effectiveness and robustness of the ARID system are well verified. The dynamic characteristics of this system are further studied, and the conclusions of this paper provide a theoretical basis for further development of such unique control system.

Design of a stabilizing controller for a ten-degree-of-freedom bipedal robot using linear quadratic regulator theory

2001 ◽  
Vol 215 (1) ◽  
pp. 27-43
Author(s):  
D Akdas ◽  
G A Medrano-Cerda
Keyword(s):  
Control System ◽  
Linear Quadratic Regulator ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Linear Quadratic ◽  
External Disturbances ◽  
Linear Quadratic Optimal Control ◽  
Stabilizing Controller ◽  
Double Support ◽  
Stabilizing Controllers

This paper considers the design and evaluation of stabilizing controllers for a ten-degree-of-freedom (10 DOF) biped robot using linear quadratic optimal control techniques and reduced-order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the double-support phase and the robot was subject to external disturbances. Although the control system is based on single-support models, the experimental results have shown that the robot successfully kept its given posture under disturbances.

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