Simultaneous Design of Controllers and Instrumentation: ILQR/ILQG
Name
Ching-2010-Simultaneous Design of Controllers and Instrumentation ILQRILQG.pdf
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218.59 KB
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Adobe PDF
Checksum (MD5)
0951f797a00e1d2ec27a4148037a5c67
Author(s)
Ching, Shinung
Kabamba, Pierre T.
Meerkov, Semyon M.
Date Issued
January 2010
Journal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
ShiNung Ching, P.T. Kabamba, and S.M. Meerkov. “Simultaneous Design of Controllers and Instrumentation: ILQR/ILQG.” IEEE Transactions on Automatic Control 55.1 (2010): 217–221. Web. 4 Apr. 2012. © 2010 Institute of Electrical and Electronics Engineers
Version
Final published version
Abstract
The instrumentation, i.e., sensors and actuators, in feedback control systems often contain nonlinearities, such as saturation, deadzone, quantization, etc. Standard synthesis techniques, however, assume that the actuators and sensors are linear. This technical note is intended to modify the LQR/LQG methodology into the so-called Instrumented LQR/LQG (referred to as ILQR/ILQG), which allows for simultaneous synthesis of optimal controllers and instrumentation.
MIT Department
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tac.2009.2033879
