This paper proposes a polynomial chaos based numerical method providing an optimal controller for the linearquadratic regulator (LQR) problem when the parameters in the formulation are uncertain, i.e., a controller minimizing the mean value of the LQR cost function obtained for a certain distribution of the uncertainties which is assumed to be known. The LQR problem is written as an optimality ...

This paper presents an adaptive particle swarm optimization (APSO) based LQR controller for optimal tuning of state feedback controller gains for a class of under actuated system (Inverted pendulum). Normally, the weights of LQR controller are chosen based on trial and error approach to obtain the optimum controller gains, but it is often cumbersome and tedious to tune the controller gains via ...

Cardiac alternans, a beat-to-beat alternation of cardiac electrical dynamics, and ventricular tachycardia, generally associated with a spiral wave of electrical activity, have been identified as frequent precursors of the life-threatening spatiotemporally chaotic electrical state of ventricular fibrillation (VF). Schemes for the elimination of alternans and the stabilization of spiral waves thr...

This paper describes an approximated-scalar-sign-function-based anti-windup digital control design for analog nonlinear systems subject to input constraints. As input saturation occurs, the non-smooth saturation constraint is modeled with the approximated scalar sign function which is a smooth nonlinear function. The resulting nonlinear model is further linearized at any operating point with th...

RÉSUMÉ. Cet article présente une approche de résolution des problèmes d’optimisation multicritères basant su l’outil LMI. Notre objectif est de chercher un contrôleur stabilisant le système avec des contraintes fréquentielles et/ou temporelles. Cette conception est fondée sur la paramétrisation de Youla; cette paramétrisation est basée sur un contrôleur initial défini par la combinaison convexe...

In this paper we address the problem of clustering closed-loop consensus networks where the closed-loop controller is designed using a class of Linear Quadratic Regulator (LQR). Given any positive integer r, our objective is to develop a strategy for grouping the states of the n-node network into r ≤ n distinct non-overlapping groups. The criterion for this partitioning is defined as follows. F...

The aim of the present work is to continue the development of the prototype ALIV3, focusing on the estimation and control of the attitude. First the differences in motion and configurations of a tilt-quadrotor in relation with a common quadrotor are explained. The mass properties and actuators of the prototype are measured through tests specially developed. In the identification of the motors t...