Design approach of weighting matrices for optimal controller design for autonomous mobile robot
Shahida Khatoon, Ibraheem, Kaukab Naz · 2014
In this research work, the objective is to investigate the suitability and examine the performance of linear control systems like the linear Quadratic Regulator in stabilizing the system and the effect of choosing error weighting matrix Q and Control weighting matrix R. This approach is based on approximate reasoning and knowledge based control. A mathematical model of prototype Agentis derived and subsequently A Linear Quadratic Regulator (LQR) is evaluated for controlling and stabilizing the system.