A nonlinear optimal controller with a fuzzy gain scheduler has been designed and applied to a Line-Of-Sight (LOS) stabilization system. Use of Linear Quadratic Regulator (LQR) theory is an optimal and simple manner of solving many control engineering problems. However, this method cannot be utilized directly for multigimbal LOS systems since they are nonlinear in nature. To adapt LQ controllers...

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...

The paper presents a feedback control of Linear Quadratic Regulator (LQR) scheme for Selective Catalytic Reduction (SCR) process in combined-cycle (CC) power plants. The SCR process is to reduce NOx emission at the CC power plants, prior to venting into the atmosphere by decomposing process using Ammonia (NH3) at the SCR catalysts. This process can be considered as a nonlinear with time delay s...

This paper studies longitudinal vehicle following problem, where two control strategies i.e. LQR optimal synthesis and a novel quasi-linear controller are adopted for a linearized vehicle model. In case of LQR, the results are enhanced by inclusion of a minimum order state observer and a feed-forward controller. Since the dynamics of the feedback linearized system correspond to a certain class ...

This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference du...

In the present work a new controller called Particle Swarm Optimization (PSO) based state feedback gain (K) controller has been proposed for frequency regulation of a two area system and then its performance is compared with earlier designed controllers such as Linear Quadratic Regulator– Proportional Integral (LQR-PI) controller and Integral controller. The performance comparison has been done...

We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the ...

In this paper we analyze a locking-free numerical scheme for the LQR control of a Timoshenko beam. We consider a non-conforming finite element discretization of the system dynamics and a control law constant in the spatial dimension. To solve the LQR problem we seek a feedback control which depends on the solution of an algebraic Riccati equation. An optimal error estimate for the feedback oper...

This technical article investigates the linear quadratic regulator (LQR) design for continuous-time positive systems. Based on systems theory and Lyapunov theory, solvability optimality of positivity-preserving LQR problem are analyzed through lens optimization, two projection theorems derived single-input multi-input systems, respectively, which paves way developing a projected gradient descen...

This paper deals with an optimal twisting sliding mode controller (OT-SMC) for the operation of a three phase permanent magnet synchronous machine (PMSM) in electric vehicle (EV). In order to drive these vehicles, performance is needed robust control against real-time disturbances such as variable load torque, uncertainties parameters variation and speed variations between medium, low, high wel...