The purpose of this short note is to provide an alternative derivation of the optimal controller for the linear quadratic optimization problem in Section 2. Consider the linear time-varying system dynamics ˙ x(t) = A(t)x(t) + B(t)u(t), x(t 0) = x 0 , (1) where x(t) ∈ R n , u(t) ∈ R n i , ∀t ∈ [t 0 ,t 1 ]. Define the quadratic cost function J(u) = 1 2 t 1 t 0 u(t) 2 2 + C(t)x(t) 2 2 dt + x(t 1) ...

Abstract There is an increasing awareness of the need to reduce traffic accidents and fatality due vehicle collision. Post-impact hazards can be more serious as driver may fail maintain effective control after collisions. To avoid subsequent crash events stabilize vehicle, this paper proposes a post-impact motion planning stability method for autonomous vehicles. An enabling proposed situations...

The continuous time Linear Quadratic Regulator (LQR) theory has been implemented in the present work for the design of optimal Proportional Integral(PI) controller for the frequency response enhancement of multi area interconnected power system . The PI controller gains as proportional gain (Kp) and integral gain (Ki) are formulated as the optimal state-feedback gains, corresponding to the stan...

A maximum power point tracking (MPPT) technique based on linear quadratic regulator (LQR) approach for solar photo-voltaic system has been proposed in this paper. LQR based MPPT controller has been designed with online set-point adjustment approach using current, radiation and temperature sensors. Real time simulations have been carried out on MATLAB TM /dSPACE TM platform for solar photo-volta...

With the aim of developing multiple input and multiple output (MIMO) coupling systems with a redundant parallel adjustment mechanism on the deployable antenna panel, a structural control integrated design methodology is proposed in this paper. Firstly, the modal information from the finite element model of the structure of the antenna panel is extracted, and then the mathematical model is estab...

SimMechanics can be used for modelling of mechanical systems of any degree of freedom in MATLAB/Simulink environment. Mechanical systems have physical properties that use physical modelling blocks in SimMechanics that relates to geometric and kinematic. By using this toolbox, it saves the time and effort to derive the equations of motion. SimMechanics provides a visualization and animation of m...

Autonomous underwater vehicles (AUV) are used in many applications like mining, aquaculture and military applications. AUV is highly nonlinear system; modeling and controller performance is challenging issue for the researchers. In this paper a linear quadratic regulator (LQR) and proportional integral derivative (PID) controllers are designed for the depth control system of AUV. These controll...

Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, experimental outdoor testing of digital quadcopter flight controllers, including Explicit Model Predictive Control, Linear Quadratic Regulator, Proportional Integral Derivative. A was flown in an facility made track...

Ensuring nominal asymptotic stability of the Nonlinear Model Predictive Control controller is not trivial. Stabilizing ingredients such as terminal penalty term and region are crucial in establishing stability. Current work presents alternate approaches namely arbitrary based approach linear quadratic regulator approach, which provide larger degrees freedom for enlarging against conservative fr...

Electro-Hydraulic actuator (EHA) is a one type of application used in industry and building high performance motion control process. Apparently, dealing with EHA behaviour quite difficult make the controlling process complicated. Designing Linear Quadratic Regulator (LQR) controller as feedback require selecting weighting parameter Q R. The result shows that higher value offers fast response st...