This paper explores the applicability of a Linear Quadratic Regulator (LQR) controller design to the problem of bipedal stance on the Minitaur [1] quadrupedal robot. Balancing the body on only the rear legs affords the possibility of using the front legs for other tasks such as manipulation or bracing. Restricted to the sagittal plane, this behavior exposes a 3DOF (degree of freedom) double inv...

This article studies the robustness of policy iteration in context continuous-time infinite-horizon linear quadratic regulator (LQR) problem. It is shown that Kleinman's algorithm small-disturbance input-to-state stable, a property stronger than Sontag's local stability but weaker global stability. More precisely, whenever error each bounded and small, solutions are also enter small neighborhoo...

<p>A two-wheeled self-balancing robot (TWSBR) is an underactuated system that inherently nonlinear and unstable. While many control methods have been introduced to enhance the performance, there no unique solution when it comes hardware implementation as robot’s stability highly dependent on accuracy of sensors robustness electronic systems. In this study, a TWSBR controlled by embedded N...

In this paper a new approach to formulation of active control of structures based on energy concepts and use of Linear Quadratic Regulator (LQR) has been proposed. The suggested method eliminates the trial and error procedure in finding appropriate gain matrices in active control of structures. In this method the gain matrix is obtained by considering the energy of the structure and it remains ...

A weighted summation of Integral of Time Multiplied Absolute Error (ITAE) and Integral of Squared Controller Output (ISCO) minimization based time domain optimal tuning of fractional-order (FO) PID or PIλDμ controller is proposed in this paper with a Linear Quadratic Regulator (LQR) based technique that minimizes the change in trajectories of the state variables and the control signal. A class ...

A closed-loop controller was proposed to adjust the laser power maintain melt pool stability based on linear quadratic regulator (LQR) control theory. The width acquisition system built complementary metal oxide semiconductor (CMOS), and captured image processed using an processing algorithm obtain width. used as input variable output variable. state space spatial model identified subspace meth...