Indirect Adaptive State-Feedback Control of Rotary Inverted Pendulum Using Self-Mutating Hyperbolic-Functions for Online Cost Variation
This paper presents the development of an indirect adaptive state-feedback controller to improve the disturbance-rejection capability of under-actuated multivariable systems. The ubiquitous Linear-Quadratic-Regulator (LQR) is employed as the baseline state-feedback controller. Despite its optimality...
Main Authors: | Omer Saleem, Khalid Mahmood-Ul-Hasan |
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Format: | Article |
Language: | English |
Published: |
IEEE
2020-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/9093854/ |
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