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

fYear

2010

fDate

13-15 Aug. 2010

Firstpage

115

Lastpage

118

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Information Processing (ICICIP), 2010 International Conference on

Conference_Location

Dalian

Print_ISBN

978-1-4244-7047-1

Type

conf

DOI

10.1109/ICICIP.2010.5564267

Filename

5564267