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http://dx.doi.org/10.5916/jkosme.2008.32.4.618

Interpolation-Based Adaptive LQ Control for Nonlinear Systems  

Lee, Yun-Hyung (한국항만연수원 부산연수원)
Ahn, Jong-Kap (한국항만연수원 부산연수원)
Jin, Gang-Gyoo (한국해양대학교 컴퓨터.제어.전자통신공학부)
So, Myung-Ok (한국해양대학교 선박전자기계공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.32, no.4, 2008 , pp. 618-623 More about this Journal
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
LQ controller; Lagrange interpolation; Nonlinear systems; Inverted pole system;
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Times Cited By KSCI : 1  (Citation Analysis)
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