This paper describes an approximated-scalar-sign-function-based anti-windup digital control design for analog nonlinear systems subject to input constraints. As input saturation occurs, the non-smooth saturation constraint is modeled with the approximated scalar sign function which is a smooth nonlinear function. The resulting nonlinear model is further linearized at any operating point with th...

RÉSUMÉ. Cet article présente une approche de résolution des problèmes d’optimisation multicritères basant su l’outil LMI. Notre objectif est de chercher un contrôleur stabilisant le système avec des contraintes fréquentielles et/ou temporelles. Cette conception est fondée sur la paramétrisation de Youla; cette paramétrisation est basée sur un contrôleur initial défini par la combinaison convexe...

In this paper we address the problem of clustering closed-loop consensus networks where the closed-loop controller is designed using a class of Linear Quadratic Regulator (LQR). Given any positive integer r, our objective is to develop a strategy for grouping the states of the n-node network into r ≤ n distinct non-overlapping groups. The criterion for this partitioning is defined as follows. F...

The aim of the present work is to continue the development of the prototype ALIV3, focusing on the estimation and control of the attitude. First the differences in motion and configurations of a tilt-quadrotor in relation with a common quadrotor are explained. The mass properties and actuators of the prototype are measured through tests specially developed. In the identification of the motors t...

An AFS (active front steering) on the basic of a C-EPS (column electric power steering) system was developed. Based on the mathematical model of essential components, the AFS controller was designed covering two units: an EPS actuator unit was used to reduce the steering torque requirement to the driver; an AFS actuator unit was used to compensate the steering angle for steering characteristics...

This work presents the BDU technique (Bounded Data Uncertainties) and the tuning of the linear quadratic regulator (LQR) via this technique, which considers models with bounded uncertainties. The BDU method is based on constrained game-type formulations, and allows the designer to explicitly incorporate a priori information about bounds on the sizes of the uncertainties into the problem stateme...

In present work the various aspects on mathematical modelling, stability and control strategies of flexible double link manipulator have been investigated. A mathematical model of flexible double link manipulator has been developed using lagrangian method. This mathematical model has been characterized using classical and modern control theories. Their time domain and frequency domain analysis ...

Penelitian ini membahas penerapan metode Regulator Kuadratik Linier (LQR) pada sistem kendali optimal. LQR menggunakan kombinasi linier dari state plant untuk melakukan proses kontrol, sehingga memerlukan semua dalam yang tersedia diukur atau diakses. Namun, jika beberapa tidak dapat diukur, mengestimasi state-state tersebut berdasarkan model dan keluaran diukur. berfokus perancangan pengendali...

This paper studies the lateral control problem for intelligent vehicles based on concept of shared control. Considering participation drivers in loop, a control-based controller is designed, which consists two differed controllers: one an LQR-based autonomous driving and other driver’s intention-based fuzzy controller. For vehicle dynamic model with two-degrees freedom, LQR are designed. Then, ...

Linear Quadratic Regulator (LQR) design is one of the most classical optimal control problems, whose well-known solution an input sequence expressed as a state-feedback. In this work, finite-horizon and discrete-time LQR solved under stability constraints uncertain system dynamics. The resulting feedback controller balances cost value closed-loop stability. Robustness modeled using scenario app...