posted on 2024-03-05, 11:40authored byAmbili Mohan, Elizabeth Rita Samuel, Gylson Thomas
Linear–quadratic regulator (LQR) is a control technique successfully implemented for several complex systems. However, LQR technique in certain cases fails due to disturbances mainly caused by the improper choice of weighting matrices Q and R. Methods using particle swarm optimisation (PSO) are used to find the weighting matrices of LQR and have been proven to be superior. The paper proposes an output feedback LQR proportional–integral–derivative (PID) controller, which is also compared with LQR and PSO-based LQR. The output feedback LQR–PID provides a better response, and the effectiveness of the proposed method is demonstrated through simulations, and experimental validations are conducted on various cases.
Funding
There has been no financial support for this work.