Heat exchanger networks present an interesting control problem due to coupling among process streams. In this work, the linear quadratic regulator (LQR), a feedback optimal control technique, is used to control stream temperatures on a laboratory scale heat exchanger network, through bypass manipulation, in a multivariable system. The LQR design was based on a mathematical model of the plant an...

The selection of global best (Gbest) exerts a high influence on the searching performance multi-objective particle swarm optimization algorithm (MOPSO). candidates MOPSO in external archive are always estimated to select Gbest. However, most estimation methods, considered as Gbest fixed way, which is difficult adapt varying evolutionary requirements for balance between convergence and diversity...

This paper is concerned with the linear quadratic regulation (LQR) problem for linear discrete-time systems with multiple delays in a single input channel. Although the LQR problem for discrete-time systems with single delay in each of the multiple input channels has been studied in existing literature, the problem to be addressed in this paper is known to be very difficult and has not been wel...

According to the existed structure and algorithm of extension controller, proposed an improved extension control algorithm based on the Optimal Control, which was named LQR-EC, and applied to a SIMO system—Crane-Double Pendulum System. And, using MATLAB simulation platform to study the effect of the LQR—EC Algorithm. The result shows that, the LQR-EC Algorithm not only has a simple theory, but ...

Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed Sliding Mode Control (SMC) returned the...

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...

This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure to design hierarchical decentralized optimal stabilizing controllers for MASs without disturbances/noise. Next, a method for deriving reduced-order hierarchi...

We present Extended LQR, a novel approach for locally-optimal control for robots with non-linear dynamics and non-quadratic cost functions. Our formulation is conceptually different from existing approaches, and is based on the novel concept of LQR-smoothing, which is an LQR-analogue of Kalman smoothing. Our approach iteratively performs both a backward Extended LQR pass, which computes approxi...

Dealing with a LQR controller surface subject to power and torque constraints, is an issue of nonlinear problem that is difficult to implement. This paper employs a fuzzy controller surface to replace the LQR surface subject to power and torque constraints by using class stacking, least square and Sugenotype fuzzy inference mode. Through this type of transformation, called “Optimal fuzzy contro...