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The application of LQR controller in inverted pendulum system is common, but the choice of weight matrix Q and R of LQR controller has always been a difficult. This paper presents a new method to achieve the double inverted pendulum system LQR controller parameters optimization through the particle swarm optimization algorithm. The simulation result shows that the method used in the choice of matrix...
Inverted pendulum system is typical multi-variable, nonlinear, strong -coupling and instability naturally, as a typical control target, it has been subjected to many experts and scholars' concern. This paper derives the mathematical model for system of single link rotary inverted pendulum from Lagrange Equation, and through the linear model, the inverted pendulum is kept stable on the inverted point...
A fast suboptimal algorithm for finite horizon stochastic linear-quadratic control under probabilistic constraints is presented. This type of control problem is solved repeatedly in stochastic model predictive control. Under the assumption of affine state feedback, the control problem is converted to an equivalent deterministic problem using the mean and covariance matrix as the state. An interior...
We propose a new algorithm for numerical solutions of constrained nonlinear optimal control problems, based on constrained LQ problems. The proposed algorithm is described as follows. First, we approximate the constrained nonlinear optimal control problems by the Taylor expansion technique, resulting in the standard LQ problems, but with linearized constraints. Then, by making use of penalty function...
A new algorithm for numerical solutions of constrained nonlinear optimal control problems has been proposed based on Riccati transformation. First, we approximate the constrained nonlinear optimal control problems by the Taylor expansion technique. Then, constructing the constrained LQ problems as the accessory problems, we analytically solve them via Riccati transformation. Finally, repeating the...
This paper deals with optimization techniques for linear impulsive hybrid systems (LIHSs). We study the LQ (linear quadratic) impulsive hybrid optimal control problem (OCP) and apply the corresponding Pontryagin-type maximum principle (MP) (see). Our aim is to investigate the natural relationship between the above MP and the Bellman dynamic programming (DP) approach to the above hybrid OCP under consideration...
DC-DC converters have wide several applications in electrical industry, they can be employed for varied DC voltage usages and stabilization or the control of DC voltage of a battery or it can be a component of a complex converter to control the intermediate or output voltages. Due to their switching property included in their structure, DC-DC converters have a non-linear behavior and their controlling...
Due to their switching property included in their structure, DC-DC converters have a non-linear behavior and their controlling design is accompanied with complexities. But by employing the average method it is possible to approximate the system by linear system and exploiting linear control methods. In this paper the central method of linear quadratic regulator (LQR) is employed for controlling buck...
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