This paper deals with the linear quadratic regulator with constraints on the state and the input vectors. Such an optimization problem has a wide applications in industry like chemical and manufacturing industries. Our goal in this paper consists of developing an efficient numerical algorithm to solve such problem. Our technique relays on an iterative approach that uses the solution of the stan...

The purpose of this paper is to provide a unified presentation of the formulas arising in the discrete-time finite-horizon linear Linear Quadratic Regulator problem, the Linear Quadratic Gaussian problem, the Linear Exponential of Quadratic Gaussian problem, and the minimax Linear Quadratic Gaussian problem. For these classes of optimal control problems, the paper presents formulas for optimal ...

This Paper presents a novel Cultural Algorithm based particle swarm optimization (PSO) technique which is intended to assist in converging to a accurate solution in the control of Linear Brushless Direct Current motor (LBLDC). With the novel PSO-based approach the optimal Proportional-Integral-Derivative (PID) controller parameters are deduced for efficient speed control of Linear Brushless DC ...

The paper focuses on comparing applicability, tuning, and performance of different controllers implemented tested a finless rocket during its boost phase. objective was to evaluate the advantages disadvantages each controller, such that most appropriate one would then be developed in real-time rocket. compared were Linear Quadratic Regulator (LQR), Gaussian (LQG), Proportional Integral Derivati...

Based on two successfully and widely used control techniques in many industrial applications under normal (fault-free) operation conditions, the Gain-Scheduled Proportional-Integral-Derivative (GS-PID) control and Model Reference Adaptive Control (MRAC) strategies have been extended, implemented, and experimentally tested on a quadrotor helicopter Unmanned Aerial Vehicle (UAV) testbed available...

The role of robots has been increasing in machining applications, with new concepts such as robotic-assisted where a robot supports the workpiece while it is machined by machine tool. This method improves chatter stability to certain extent. However, forced vibrations or unstable can still be limiting factor for productivity and quality process. In this paper, robotically assisted milling appro...

Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, need a fast response stiffness tuning would rise to ensure safety. In this paper, we present novel Discrete Actuator (DVSA) be used compliant robotic manipulator The novelty actuator lies...

The linear quadratic Gaussian-loop transfer recovery procedure is a classical method to desensibilise a system in closed loop with respect to disturbances and system uncertainty. Here an extension is discussed, which avoids the usual loss of performance in LTR, and which is also applicable for non-minimum phase systems. It is also shown how the idea can be extended to other control structures. ...

In the present work a new controller called Particle Swarm Optimization (PSO) based state feedback gain (K) controller has been proposed for frequency regulation of a two area system and then its performance is compared with earlier designed controllers such as Linear Quadratic Regulator– Proportional Integral (LQR-PI) controller and Integral controller. The performance comparison has been done...