Optimal Path Tracking Control of Autonomous Vehicle: Adaptive Full-State Linear Quadratic Gaussian (LQG) Control

Adaptive continuous-time linear quadratic Gaussian control

The adaptive linear quadratic Gaussian control problem, where the linear transformation of the state A and the linear transformation of the control B are unknown, is solved assuming only that (A; B) is controllable and (A; Q 1 ) is observable, where Q 1 determines the quadratic form for the state in the integrand of the cost functional. A weighted least squares algorithm is modified by using a ...

Adaptive Linear Quadratic Gaussian Optimal Control Modification for Flutter Suppression of Adaptive Wing

This paper presents an adaptive control approach for flutter suppression of a performance adaptive aeroelastic wing equipped with a variable camber continuous trailing edge flap design. The adaptive control approach is based on the optimal control modification method augmented to a linear quadratic gaussian optimal control design. A model reduction based on a singular perturbation approach is p...

Optimal Linear Quadratic Control

Linear-Quadratic Fractional Gaussian Control

A control problem for a linear stochastic system with an arbitrary fractional Brownian motion and a cost functional that is quadratic in the system state and the control is solved. An optimal control is given explicitly as the sum of a prediction of the future fractional Brownian motion and the well known linear feedback control for the associated deterministic linear-quadratic control problem....

Adaptive Tracking Control of an Autonomous Underwater Vehicle

This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of...