• 제목/요약/키워드: Linear Quadratic Regulator(LQR)

검색결과 98건 처리시간 0.031초

Controller optimization with constraints on probabilistic peak responses

  • Park, Ji-Hun;Min, Kyung-Won;Park, Hong-Gun
    • Structural Engineering and Mechanics
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    • 제17권3_4호
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    • pp.593-609
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    • 2004
  • Peak response is a more suitable index than mean response in the light of structural safety. In this study, a controller optimization method is proposed to restrict peak responses of building structures subject to earthquake excitations, which are modeled as partially stationary stochastic process. The constraints are given with specified failure probabilities of peak responses. LQR is chosen to assure stability in numerical process of optimization. Optimization problem is formulated with weightings on controlled outputs as design variables and gradients of objective and constraint functions are derived. Full state feedback controllers designed by the proposed method satisfy various design objectives and output feedback controllers using LQG also yield similar results without significant performance deterioration.

회귀분석을 통한 역진자 시스템의 마찰력 측정에 관한 연구 (A Study on Friction Measurement of an Inverted Pendulum System using the Regression Analysis)

  • 박경윤;박덕기;좌동경;홍석교
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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    • pp.1775-1776
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    • 2006
  • This paper deals with the problem of friction measurement of an inverted pendulum system using the regression analysis and proposes a solution. The approach taken in this study is getting the friction from a regression relational expression between the motor voltage and the cart velocity of an inverted pendulum system. The result to compensate LQR (linear Quadratic Regulator) controller with the friction which is measured in system, improved the performance of the system. Above all, the study has found that the proposed compensation of the friction reduces the oscillation of the cart position. In conclusion, the proposed method is useful when parameters in the given system model are not known.

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7 자유도 차량 모델과 출력 되먹임을 이용한 자동차 능동 현가장치 설계에 관한 연구 (Output feedback, decentralized controller design for an active suspension system using 7 DOF full car model)

  • 노태수;정길도;홍동표
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.871-875
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    • 1996
  • The Output feedback linear quadratic regulator control is applied to the design of active suspension system using 7 DOF full car model. The performance index reflects the vehicle vertical movement, pitch and roll motion, and minimization of suspension stroke displacements in the rattle space. The elements of gain matrix are approximately decoupled so that each suspension requires only local information to generate the control force. The simulation results indicates that the output feedback LQ controller is more effective than purely passive or full state feedback active LQ controllers in following the road profile at the low frequency range and suppressing the road disturbance at the high frequency ranges.

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끝단이 탄성 지지된 강체판의 최적진동제어 (Optimal Vibration Control of Rigid Plate Elastically Supported at the Edges)

  • 이성기;윤신일;한상보
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2003년도 춘계학술대회
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    • pp.828-833
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    • 2003
  • Rigid plate elastically supported at the edges is modeled and the performance of the optimal vibration control under sinusoidal excitation is tested. The controller based on the linear quadratic regulator with output feedback is designed to control the multi-degree of freedom vibration. Relative weighting parameters are considered as design constraints to determine the limitation of maximum control force and state parameters. Control force calculated by proportional output feedback of the displacement and velocity is used to suppress the vibration induced by the sinusoidal external force. The active vibration control of vibrating plate by the LQR controller is examined through the numerical simulations that show the effectiveness of optimal control scheme on the three degrees of freedom structure.

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링크 암에 대한 비선형 변환 제어 이론의 응용 연구 (Application Study of Nonlinear Transformation Control Theory for Link Arm System)

  • 백윤수;양창일
    • 한국정밀공학회지
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    • 제13권2호
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    • pp.94-101
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    • 1996
  • The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

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신경회로망을 응용한 현가장치의 폐회로 시스템 규명 (Empirical Closed Loop Modeling of a Suspension System Using Neural Network)

  • Kim, I.Y.;Chong, K.T.;Hong, D.P.
    • 한국정밀공학회지
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    • 제14권7호
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    • pp.29-38
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    • 1997
  • A closed-loop system modeling of an active/semiactive suspension system has been accomplished through an artificial neural network. A 7DOF full model as a system's equation of motion has been derived and an output feedback linear quadratic regulator has been designed for control purpose. A training set of a sample data has been obtained through a computer simulation. A 7DOF full model with LQR controller simulated under several road conditions such as sinusoidal bumps and rectangular bumps. A general multilayer perceptron neural network is used for dynamic modeling and target outputs are fedback to the a layer. A backpropagation method is used as a training algorithm. Model validation of new dataset have been shown through computer simulations.

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확률적 가진압력을 받는 건축구조물의 최대응답 제한을 위한 선형이차안정기의 최적설계 (Optimal Design of Linear Quadratic Regulator Restrict Maximum Responses of Building Structures Subject to Stochastic Excitation)

  • 박지훈;황재승;민경원;조소훈
    • 한국지진공학회:학술대회논문집
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    • 한국지진공학회 2001년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall 2001
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    • pp.373-380
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    • 2001
  • In this research, a controller design method based on optimization is proposed that can satisfy constraints on maximum responses of building structures subject to ground excitation modeled by partially stationary stochastic process. The class of controllers to be optimized is restricted to LQR. Weighting matrix on controlled outputs is used as design variable. Objective function constraint functions and their gradients are computed parameterizing control gain with Riccati matrix. Full state feedback controllers designed by Proposed optimization method satisfy various design objectives and their necessary maximum control forces are computed fur the production of actuator. Probabilities of maximum responses match statistical data from simulation results well.

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신경회로망을 이용한 폐회로 현가장치의 시스템 모델링 (An Emphirical Closed Loop Modeling of a Suspension System using a Neural Networks)

  • 김일영;정길도;노태수;홍동표
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1996년도 추계학술대회 논문집
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    • pp.384-388
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    • 1996
  • The closed-loop system modeling of an Active/semiactive suspension system has been accomplished through an artificial neural Networks. The 7DOF full model as the system equation of motion has been derived and the output feedback linear quadratic regulator has been designed for the control purpose. For the neural networks training set of a sample data has been obtained through the computer simulation. A 7DOF full model with LQR controller simulated under the several road conditions such as sinusoidal bumps and the rectangular bumps. A general multilayer perceptron neural network is used for the dynamic modeling and the target outputs are feedback to the input layer. The Backpropagation method is used as the training algorithm. The modeling of system and the model validation have been shown through computer simulations.

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Non-spillover control design of tall buildings in modal space

  • Fang, J.Q.;Li, Q.S.;Liu, D.K.
    • Wind and Structures
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    • 제2권3호
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    • pp.189-200
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    • 1999
  • In this paper, a new algorithm for active control design of structures is proposed and investigated. The algorithm preserves the decoupling property of the modal vibration equation and eliminates the spillover problem, which is the main shortcoming in the independent modal space control(IMSC) algorithm. With linear quadratic regulator(LQR) control law, the analytical solution of algebraic Riccati equation and the optimal actuator control force are obtained, and the control design procedure is significantly simplified. A numerical example for the control design of a tall building subjected to wind loads demonstrates the effectiveness of the proposed algorithm in reducing the acceleration and displacement responses of tall buildings under wind actions.

퍼지 제어기를 이용한 Underactuated Robot의 광범위 제어 (Wide-Range Stabilization Control of Underactuated Robot using Fuzzy Controller)

  • 유기정;양동훈;최현철;홍석교
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 D
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    • pp.2408-2410
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    • 2001
  • This paper presents the control of an underactuated two-link robot called the Pendubot. Combining linearized state feedback control with Takagi-Sugeno(T-S) fuzzy controller wide-range stabilization of Pendulum is achieved. The local stabilization controler is designed by linearinzing the dynamic equations about the several desired set point and using LQR(Linear Quadratic Regulator) techniques. Takagi-Sugeno methodology is used to control the nonlinear models near different operation points. Fuzzy controller is obtained by the fuzzy blending of the local controllers. The paper includes a description of the algorithm as well as real time experimental results for the Pendubot.

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