This paper explores the applicability of a Linear Quadratic Regulator (LQR) controller design to the problem of bipedal stance on the Minitaur [1] quadrupedal robot. Balancing the body on only the rear legs affords the possibility of using the front legs for other tasks such as manipulation or bracing. Restricted to the sagittal plane, this behavior exposes a 3DOF (degree of freedom) double inv...

When designing a controller, the very first step is mathematical modeling of the concerned plant. As we know that during this mathematical modeling several mathematical approximation, uncertainties in the form of system parameter variations, plant nonlinearities and disturbances are involved. Although the conventional PID controller is vastly used controller but it is linear in nature thus it d...

This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration c...

This paper presents a perfect tracking control for discrete-time nonminimum phase of electro-hydraulic servo (EHS) system by adopting a combination of feedback and feedforward controller. A linear-quadratic-regulator (LQR) is firstly design as a feedback controller and a feedforward controller is then proposed to eliminate the phase error emerge by the LQR controller during the tracking control...

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...

As research into UAVs accelerates into the 21st century, alternatives to fixed wing vehicles such as the quadrotor are causing interest. The quadrotor is a small agile vehicle which could be suitable for search and rescue, surveillance and remote inspection. For autonomous operation a control system that incorporates both trajectory planning and trajectory following is required. Trajectory plan...

This paper proposes a systematic method to design hierarchical, decentralized, stabilizing controllers for homogeneous hierarchical dynamical networks. Based on LQR approach with a properly chosen performance index including global and local objectives with control input penalty, an obtained optimal LQR feedback gain gives the closed-loop system a prescribed desirable hierarchical structure. In...

Received Apr 15, 2014 Revised Jul 6, 2014 Accepted Jul 26, 2014 In this paper, a LQR (Linear Quadratic Regulation) optimal method is implemented to control position of an overhead carne. To do this, a tracking formulation of LQR is developed and applied to the system. Hence the dynamic model of the overhead crane is presented, the dynamic of the actuator motor of the trolley is considered. As t...

The standard LQR design technique is extended to systems with parametric uncertainty in the open-loop "A" matrix. This design, called the robust LQR (RLQR), guarantees the stability of the uncertain system, and the same level of performance robustness as standard LQR designs. To determine the properties of the RLQR design, simulations are performed on various mass-spring systems, and compared t...