Direct Numerical Solution of the LQR with Input Derivative Regularization Problem
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In: IFAC-PapersOnLine, Vol. 56.2023, No. 2, 22.11.2023, p. 4846-4851.
Research output: Contribution to journal › Article › Research › peer-review
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TY - JOUR
T1 - Direct Numerical Solution of the LQR with Input Derivative Regularization Problem
AU - Handler, Johannes
AU - Harker, Matthew
AU - Rath, Gerhard
PY - 2023/11/22
Y1 - 2023/11/22
N2 - This paper develops a new method for computing the state feedback gain of a Linear Quadratic Regulator (LQR) with input derivative weighting that circumvents solving the Riccati equation. The additional penalty on the derivatives of the input introduces intuitively tunable weights and enables smoother control characteristics without the need of model extension. This is motivated by position controlled mechanical systems. The physical limitations of these systems are usually their velocity and acceleration rather than the position itself. The presented algorithm is based on a discretization approach to the calculus of variations and translating the original problem into a least-squares with equality constraints problem. The control performance is analyzed using a laboratory setup of an underactuated crane-like system.
AB - This paper develops a new method for computing the state feedback gain of a Linear Quadratic Regulator (LQR) with input derivative weighting that circumvents solving the Riccati equation. The additional penalty on the derivatives of the input introduces intuitively tunable weights and enables smoother control characteristics without the need of model extension. This is motivated by position controlled mechanical systems. The physical limitations of these systems are usually their velocity and acceleration rather than the position itself. The presented algorithm is based on a discretization approach to the calculus of variations and translating the original problem into a least-squares with equality constraints problem. The control performance is analyzed using a laboratory setup of an underactuated crane-like system.
UR - https://pureadmin.unileoben.ac.at/portal/en/publications/direct-numerical-solution-of-the-lqr-with-input-derivative-regularization-problem(e2182aca-a979-4a60-bf90-9aeb4c00f273).html
U2 - 10.1016/j.ifacol.2023.10.1253
DO - 10.1016/j.ifacol.2023.10.1253
M3 - Article
VL - 56.2023
SP - 4846
EP - 4851
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 2
T2 - IFAC World Congress 2023
Y2 - 9 July 2023 through 14 July 2023
ER -