This paper is a contribution to the theory of the infinitehorizon linear quadratic regulator (LQR) problem subject to inequality constraints on the inputs and states, extending an approach first proposed by Sznaier and Damborg [16]. A solution algorithm is presented, which requires solving a finite number of finite-dimensional positive definite quadratic programs. The constrained LQR outlined d...

Analysis of attitude stabilization of a power-aided unicycle points out that a unicycle behaves like an inverted pendulum subject to power constraint. An LQR-mapped fuzzy controller is introduced to solve this nonlinear issue by mapping LQR control reversely through least square and Sugeno-type fuzzy inference. The fuzzy rule surface after mapping remains optimal.

The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for...

We present a comparison of a LQR controller and Q-learning on a simulation of a triple inverted pendulum. While the LQR controller was able to balance the pendulum, Qlearning was unable due to memory and computing limitations. We examine the strengths and weaknesses of each method and compare their abilities.

A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is designed for altitude (z) attitude (roll, pitch, yaw) control of a quadrotor vehicle. The derivation mathematical model the formulated based on Newton–Euler approach. An appropriate controller’s parameter must be obtained to obtain superior performance. Therefore, we exploit advantages nature-inspired...

A framework for the design and simulation of a building envelope and an HVAC system is presented. Building models are first captured in Modelica to leverage its rich building component library and then imported into Simulink to exploit its strong control design environment that enables efficient control design and implementation. Four controllers with different computational intensity are consi...

In this paper we compare the behaviour of the LQR solution for a finite platoon model with its infinite version. We give examples where these are similar and some where they are quite different. For the scalar case we obtain sufficient conditions for the LQR solutions to be similar by relating the Toeplitz approximations to circulant approximating systems.