Stochastic optimal control usually requires an explicit dynamical model with probability distributions, which are difficult to obtain in practice. In this work, we consider the linear quadratic regulator (LQR) problem of unknown systems and adopt a Wasserstein penalty address distribution uncertainty additive stochastic disturbances. By constructing equivalent deterministic game penalized LQR p...

BP Neural Network has a longer training time and a slow convergence. To deal with the defects of BP Neural Network a modified BP algorithm is proposed in the paper. The algorithm is applied for the control of Inverted Pendulum, a highly non linear system inherently being open loop unstable. Levenberg-Marquardt algorithm is used for the training purpose. The training samples are being collected ...

Parrot Mambo mini-drone is a readily available commercial quadrotor platform to understand and analyze the behavior of both in indoor outdoor applications. This study evaluates performance three alternative controllers on an interior environment, including Proportional–Integral–Derivative (PID), Linear Quadratic Regulator (LQR), Model Predictive Control (MPC). To investigate controllers’ perfor...

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...

The aim of this work is to obtain optimal-order error estimates for the LQR (Linear-quadratic regulator) problem in a strongly damped 1-D wave equation. We consider a finite element discretization of the system dynamics and a control law constant in the spatial dimension, which is studied in both point and distributed case. To solve the LQR problem, we seek a feedback control which depends on t...

The paper presents a fuzzy control based on parallel distributed fuzzy controllers for a heat exchanger. Each subcontroller is LQR designed and provides local optimal solutions. First, a Takagi-Sugeno fuzzy model is employed to represent a system. The stability of the system with the proposed fuzzy controllers is discussed. The simulation results are compared with classical PID control and illu...

Nowadays, the doubly-fed induction generators (DFIGs) based wind turbines (WTs) are the dominant type of WTs connected to grid. Traditionally the back-to-back converters are used to control the DFIGs. In this paper, an Indirect Matrix Converter (IMC) is proposed to control the generator. Compared with back-to-back converters, IMCs have numerous advantages such as: higher level of robustness, re...

This article presents the design and real-time implementation of an optimal collaborative approach to obtain desired trajectory tracking two Degree Freedom (DOF) pantograph end effector position. The proposed controller constructively synergizes Proportional Integral Derivative (PID) Linear Quadratic Regulator (LQR) by taking their weighted sum. Particle Swarm Optimization (PSO) algorithm is op...