Iterative Linear Quadratic Regulator (ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane

Muhammad Faisal; Mohsin Jamil; Qasim Awais; Usman Rashid; Muhammad Sami; Syed Omer Gilani; Yasar Ayaz  and Muhammad Nasir Khan

doi:10.17485/ijst/2015/v8i16/75369

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Iterative Linear Quadratic Regulator (ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2015/v8i16/75369

Year: 2015, Volume: 8, Issue: 16, Pages: 1-7

Original Article

Iterative Linear Quadratic Regulator (ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane

Muhammad Faisal¹ , Mohsin Jamil^1*, Qasim Awais² , Usman Rashid¹ , Muhammad Sami, Syed Omer Gilani¹ , Yasar Ayaz¹ and Muhammad Nasir Khan³

¹Department 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]
²University of Central Punjab, Lahore, Pakistan; [email protected]
³ University of Lahore, Pakistan.

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

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)