Optimal adaptive control with ΘLQG

Optimal Adaptive Control;Multiple-Input Multiple-Output (MIMO);Extended Kalman Filter (EKF);Hyper-Extended Kalman Filter (EKF);Linear Quadratic Regulator (LQR);Linear Quadratic Gaussian Regulator (LQG);Hyper Extended LQG (ΘLQG);Pendulum on Cart

Wendt, Luke ; Levinson ; Stephen E.

关键词: Optimal Adaptive Control;    Multiple-Input Multiple-Output (MIMO);    Extended Kalman Filter (EKF);    Hyper-Extended Kalman Filter (EKF);    Linear Quadratic Regulator (LQR);    Linear Quadratic Gaussian Regulator (LQG);    Hyper Extended LQG (ΘLQG);    Pendulum on Cart;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/44105/Luke_Wendt.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

This thesis introduces ΘLQG, the hyper extension of the Linear Quadratic Gaussian Regulator, for solving general purpose (locally optimal) nonlinear adaptive control on multiple-input multiple-output systems. This approach can be used to stabilize an under-actuated under-observed nonlinear dynamic system with noisy measurements while simultaneously identifying system parameters. It requires aparameterized dynamic model with operation about equilibrium points. Its general construction can also be used in disturbance rejection, gain scheduling and reference tracking. Specific case examples are introduced.