Search results for "Linear-quadratic regulator"
showing 5 items of 5 documents
Solving coupled Riccati matrix differential systems
1991
Abstract We start by noting that coupled Riccati matrix differential systems appearing in differential games may be considered as a single rectangular Riccati equation. An explicit solution of the coupled differential system in terms of a solution of the associated algebraic Riccati equation is given.
Explicit solutions of Riccati equations appearing in differential games
1990
Abstract In this paper an explicit closed form solution of Riccati differential matrix equations appearing in games theory is given.
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
Analytic solution for a class of discrete-time Riccati equations arising in Nash games
1990
On the Impact of Plant Model and Controller Sophistication on Performance of Disturbance Attenuation and System Robustness
2006
In the paper the problem of disturbance attenuation performance in single-loop control system is investigated. Modified MV control strategy with bounded control variance is used as benchmark for both LQG and classically and optimally tuned PID-type controllers. Certain time and frequency domain functions are then examined to further assess the control performance in terms of robustness. It has been shown that as long as the system to be controlled is delay-free, and there is no extreme demand on performance, simple lag-delay system model along with optimally tuned PID control algorithm provides control quality similar to that of LQG controlled original system assuming the same bound on cont…