Indian Journal of Science and Technology
Year: 2015, Volume: 8, Issue: 16, Pages: 1-7
Muhammad Faisal1 , Mohsin Jamil1*, Qasim Awais2 , Usman Rashid1 , Muhammad Sami, Syed Omer Gilani1 , Yasar Ayaz1 and Muhammad Nasir Khan3
1 Department of Robotics and Artificial Intelligence, School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, H-12 Main Campus, Islamabad, Pakistan; [email protected]
2 University of Central Punjab, Lahore, Pakistan; [email protected]
3 University of Lahore, Pakistan.
In this paper, we have investigated the performance of Iterative Linear Quadratic Regulator (ILQR) on trolley position of 3DOF crane. In ILQR, we select optimum parameters Q and R automatically instead of hit and trial method. Algorithm chooses the parameters Q and R which results in minimum trolley’s settling time of the jib system. A number of simulations have carried out using Matlab/Simulink. The results show that the optimized LQR results reduce settling time of trolley along with smaller overshoot with less rise time.
Keywords: Iterative Linear Quadratic Regulator (ILQR), Proportional Integral Derivative (PID), Three Degree of Freedom (3DOF)
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