Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Interpolation-Based Adaptive LQ Control for Nonlinear Systems

비선형 시스템을 위한 보간 기반의 적응 LQ 제어

  • 이윤형 (한국항만연수원 부산연수원) ;
  • 안종갑 (한국항만연수원 부산연수원) ;
  • 진강규 (한국해양대학교 컴퓨터.제어.전자통신공학부) ;
  • 소명옥 (한국해양대학교 선박전자기계공학부)
  • Published : 2008.05.31
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Abstract

This paper presents a design method of the Interpolation-based adaptive LQ controller that is accomplished by getting the final controller interpolated with each gain of sub-LQ controllers. The Lagrange interpolation method is used in the scheme. The proposed controller is useful to control nonlinear systems which are especially changed the system parameters. The design method is illustrated by an application to the stabilization and tracking problems of an inverted pole system on a cart. Several cases of simulations are carried out in order to validate the control effectiveness and robustness. The simulation results are compared with those of LQ controller and prove the better control performance than LQ controller.

Keywords

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