In comparison to classical cascade control architecture of DC motors, the state feedback control offers advantages in terms of design complexity, hardware realization and adaptivity. This paper presents a methodic approach to state space control of a DC motor. The state space model identified from experimental data provides the basis for a linear quadratic regulator (LQR) design. The state feed...

In this paper we describe a control methodology for the navigation of an autonomous lighter-than-air vehicle based on visual input. The control system consists in a Linear Quadratic Regulator (LQR) and a Linear Quadratic Gaussian observer (LQG). Due to non-linearities in the actuators and in the radio frequency control system, some non-linear control terms are added. The additional terms lead t...

This paper describes a new multiple-observer approach to Wireless Network Control Systems (WNCS). Two sets of observers are proposed, Lost Sample Observers (LSO) to deal with packet dropout and State Prediction Observers (SPO) to compensate for time-varying delays. These are designed using Linear Matrix Inequalities (LMI), thereby ensuring closed-loop stability. A numerical example, of a cart-m...

An autonomous distributed LQR/APF control algorithm for multiple small spacecraft during simultaneous close proximity operations has been developed. This research contributes to the control of multiple small spacecraft for emerging operation, which may include inspection, assembly, or servicing. A control algorithm is proposed which combines the control effort efficiency of the Linear Quadratic...

Design of power system stabilizer for enhancement power system stability is proposed. The effect of the proposed PSS on the synchronizing and damping torque coefficients is proved. To study the effectiveness of the proposed linear quadratic regulator (LQR) power system stabilizer, a sample power system in a linearized model is simulated and subjected to different operating conditions. The Linea...

Feedback control problems involving autonomous polynomial systems are prevalent, yet there limited algorithms and software for approximating their solution. This paper represents a step forward by considering the special case of regulator problem where state equation has nonlinearity, costs quadratic, feedback is approximated low-degree polynomials. As this natural extension linear-quadratic (L...

A linear-like discrete-time fuzzy controller was designed to control and stabilize a single-pool irrigation canal. Saint Venant equations for open-channel flow were linearized using the Taylor series and a finite-difference approximation of the original nonlinear partial differential equations. Using the linear optimal control theory, a traditional linear quadratic regulator (LQR) was first dev...

Controlling large swarms of robotic agents presents many challenges including but not limited to computational complexity due a number agents, uncertainty in the functionality each agent swarm, and swarm's configuration. The contribution this work is decentralize random finite set (RFS)-based control collaborative for controlling individual agents. RFS-based formulation assumes Gaussian mixture...

The pole placement (PP) technique for design of a linear state feedback control system requires specification of all the closed-loop pole locations even though only a few poles dominate the system’s transient response characteristics. The linear quadratic regulator (LQR) method, on the other hand, optimizes the system transient response and does not directly impose the location of the dominant ...

In this paper we present a set of projection-based designs for constructing simplified linear quadratic regulator (LQR) controllers for large-scale network systems. When such systems have tens of thousands of states, the design of conventional LQR controllers becomes numerically challenging, and their implementation requires a large number of communication links. Our proposed algorithms bypass ...