Title :
Variable gain LQG controller for enhancement of dynamic performance for stochastic nonlinear systems
Author :
Zhang, Yongli ; Li, Hongxing ; Tan, Yanhua
Author_Institution :
Fac. of Electron. Inf. & Electr. Eng., Dalian Univ. of Technol., Dalian, China
Abstract :
In this paper, the variable gain LQG controller (VGLQGC) is designed for enhancement of dynamic performance for stochastic nonlinear systems. At sampling points the state variables of nonlinear control system with correlated noise is estimated by utilizing extended Kalman filter (EKF). In every sampling interval, according to the estimated state variables the optimal control is obtained by variable gain linear quadric regulator (VGLQR) based on separation principle. The controller has been validated by applying it to control a double inverted pendulum which is an inherently unstable system. The simulation experimental results show that the new scheme can effectively improve the dynamic performance.
Keywords :
Kalman filters; correlation methods; linear quadratic Gaussian control; nonlinear control systems; optimal control; pendulums; sampling methods; stochastic systems; Kalman filter; correlated noise; double inverted pendulum; dynamic performance enhancement; optimal control; sampling interval; state estimation; state variable sampling point; stochastic nonlinear control system; variable gain LQG controller; variable gain linear quadric regulator; Estimation; Gain; Kalman filters; Mathematical model; Nonlinear systems; Optimal control; Regulators;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2010 International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-4244-7047-1
DOI :
10.1109/ICICIP.2010.5564267
