ویراساینس.
سند علمی

Design and Simulation of a LQG Optimal Controller for a Mobile Cart

Zexi Liu

چکیده

This paper presents the basic principle, design and simulation of a LQG optimal controller for a mobile cart. The optimal control is a significant branch of control theory, which combines the statistical process theory with the optimal control theory to solve many control problems in uncertain systems like astronavigation, satellite attitude and orbit, civil purpose and industrial processes. In this paper, based on descriptions of the optimal control theory and techniques, an application of optimal control for a mobile cart is discussed. The controller structure, the optimization method and the simulation results are also presented.

اسناد مشابه

  • JacksonBot - Design, Simulation and Optimal Control of an Action Painting Robot

    سند علمی۲۰۰۹ArtsITMichael Raschke, Katja D. Mombaur, Alexander Schubert

    We present the robotics platform JacksonBot which is capable to produce paintings inspired by the Action Painting style of Jackson Pollock. A dynamically moving robot arm splashes color from a container at the end effector on the canvas. The paintings produced by this platform re

  • Lqg Optimal Control Arising in Mean Field Decision Problems

    سند علمی۲۰۱۲MINYI HUANG

    Abstract. We consider a linear-quadratic-Gaussian (LQG) optimal control problem where the generalized state space is the product of an Euclidian space and an infinite dimensional function space. This model originates from a mean field LQG game with a major player and a large numb

  • EMS of Electric Vehicles using LQG Optimal Control

    سند علمی۲۰۱۷V. Anuhya

    This paper proposes a strategy of a frequency separation-based coordinating power sources within offgrid applications. One of the application is an electric vehicle equipped with two power sources that is ultracapacitor (UC) and a battery, the interaction problem between can be f

  • Linearly Constrained Lq and Lqg Optimal Control

    سند علمی۱۹۹۶A. E. B. LIM, J. B. MOORE, L. FAYBUSOVICH

    It has recently been shown that the logarithmic barrier method for solving nite-dimensional, linearly constrained quadratic optimization problems can be extended to an innnite-dimensional setting with complexity estimates similar to the nite dimensional case. As a consequence, an

  • Minimax LQG optimal control of a flexible beam

    سند علمی۲۰۰۳Ian R. Petersen, Himanshu R. Pota

    The paper presents a practical robust controller design methodology based on recent theoretical results on minimax LQG control. This controller design methodology is illustrated with the design of a robust feedback controller for the control of vibrations in a flexible cantilever

  • Formulas for Discrete Time LQR, LQG, LEQG and Minimax LQG Optimal Control Problems

    سند علمی۲۰۰۸A. J. Shaiju, Ian R. Petersen

    The purpose of this paper is to provide a unified presentation of the formulas arising in the discrete-time finite-horizon linear Linear Quadratic Regulator problem, the Linear Quadratic Gaussian problem, the Linear Exponential of Quadratic Gaussian problem, and the minimax Linea