One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based control...

Self-triggered control is a recently proposed paradigm that abandons the more traditional periodic timetriggered execution of control tasks with the objective of reducing the utilization of communication resources, while still guaranteeing desirable closed-loop behavior. In this paper, we introduce a selftriggered strategy based on performance levels described by a quadratic discounted cost. Th...

The actor-critic (AC) reinforcement learning algorithms have been the powerhouse behind many challenging applications. Nevertheless, its convergence is fragile in general. To study instability, existing works mostly consider uncommon double-loop variant or basic models with finite state and action space. We investigate more practical single-sample two-timescale AC for solving canonical linear q...

This article presents a neural algorithm based on Reinforcement Learning for optimising Linear Quadratic Regulator (LQR) creation. The proposed method allows designing such target function that automatically leads to changes in the quality and resource matrix so LQR regulator achieves desired performance. solution’s stability optimality are controller’s responsibility. However, mechanism obtain...

A method for optimal actuator design in vibration control is presented. The actuator, parametrized as a characteristic function, found by means of the topological derivative LQR cost. An abstract framework proposed based on theory infinite-dimensional optimization both shape and associated problem. numerical realization optimality condition developed using level-set derivatives. example illustr...

This paper presents an LQR-Based 6DOF control of an unmanned aerial vehicles (UAV), namely a small-scale quadrocopter. Due to its high nonlinearity and a high degree of coupling system, the control of an UAV is very challenging. quadrocopter trajectory tracking in a 3D space is greatly affected by the quadrocopter balancing around its roll-pitch-yaw frame. Lack of precise tracking control about...

In the process of trajectory tracking using linear quadratic regulator (LQR) for driverless wheeled tractors, a weighting matrix optimization method based on an improved quantum genetic algorithm (IQGA) is proposed to solve problem weight selection. Firstly, kinematic model tractor established according Ackermann steering model, and linearized discretized. Then, gate rotation angle adaptive str...

Structural vibration mitigation using semiactive control strategies has received special attention recently due to the attractive properties of semiactive devices. The main restriction of a semiactive device is that it can only produce dissipative forces, which may be expressed in mathematical terms as a nonlinear inequality constraint. Standard active control algorithms do not generally accoun...

A framework for the design and simulation of a building envelope and an HVAC system is used to compare advanced control algorithms in terms of energy efficiency, thermal comfort, and computational complexity. Building models are first captured in Modelica [1] to leverage Modelica’s rich building component library and then imported into Simulink [15] to exploit Simulink’s strong control design e...