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http://dx.doi.org/10.5000/EESK.2002.6.6.049

Weighting Matrices of LQR and ILQR Controllers Considering Structural Energy  

민경원 (단국대 건축공학과)
이영철 (단국대 건축공학과)
박민규 (단국대 건축공학과)
Publication Information
Journal of the Earthquake Engineering Society of Korea / v.6, no.6, 2002 , pp. 49-53 More about this Journal
Abstract
This paper provides the systematic procedure to determine the weighting matrices of optimal controllers considering structural energy. Optimal controllers consist of LQR and ILQR. The weighting matrices are needed first in the conventional optimal control design strategy. However, they are in general dependent on the experienced knowledge of control designers. Applying the Lyapunov function to total structural energy and using the condition that its derivative is negative, we can determine the weighting matrices without difficulty. It is proven that the control efficiency with using determined weighting matrices is achieved well for LQR and ILQR controllers.
Keywords
Weighting matrices; Optimal controllers; Lyapunov function; Structural energy;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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