This paper studies the trade-off between degree of decentralization and performance a distributed controller in linear-quadratic control setting. We study system interconnected agents over graph controller, called -distributed control, which lets make decisions based on state information within distance underlying graph. can tune its using parameter thus allows characterization relationship per...

The purpose of this short note is to provide an alternative derivation of the optimal controller for the linear quadratic optimization problem in Section 2. Consider the linear time-varying system dynamics ˙ x(t) = A(t)x(t) + B(t)u(t), x(t 0) = x 0 , (1) where x(t) ∈ R n , u(t) ∈ R n i , ∀t ∈ [t 0 ,t 1 ]. Define the quadratic cost function J(u) = 1 2 t 1 t 0 u(t) 2 2 + C(t)x(t) 2 2 dt + x(t 1) ...

This paper deals with the linear quadratic regulator with constraints on the state and the input vectors. Such an optimization problem has a wide applications in industry like chemical and manufacturing industries. Our goal in this paper consists of developing an efficient numerical algorithm to solve such problem. Our technique relays on an iterative approach that uses the solution of the stan...

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 Linear Quadratic Gaussian problem. For these classes of optimal control problems, the paper presents formulas for optimal ...

A new approach for the solution of the regulator problem for linear discrete-time dynamical systems with non-Gaussian disturbances is proposed. This approach generalizes a previous result concerning the definition of the quadratic optimal regulator. It consists in the definition of the polynomial optimal algorithm of order for the solution of the linear quadratic non-Gaussian stochastic regulat...

In this paper, the main goal is to reduce the heave motion between a surface effect ship (SES) and a wind turbine in order to safely transfer equipment and person to SES. For this purpose, an LQR control system is designed to damp the vertical motion of the surface effect ship in critical sea states including high-frequency and high amplitude regular waves as well as high frequency irregular wa...

Design of power system stabilizer using Linear Quadratic Regulator (LQR) technique. Designs that ignore noise in a plant are likely to fail when implemented in actual conditions. Presence of the noise, which results in LQR output oscillating with very small magnitude. This type of unwanted noisy output is eliminated using Linear Quadratic Gaussian (LQG) Regulator. This paper presents techniques...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

This paper presents the optimal regulator for a linear system with multiple state delays and a quadratic criterion. The optimal regulator equations are obtained using the maximum principle. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs demonstrating better per...