Muhammad Faisal ¹, Mohsin Jamil ¹, Qasim Awais ², Usman Rashid ¹, Muhammad Sami Syed Omer Gilani ¹, Yasar Ayaz ¹, Muhammad Nasir Khan ³

Affiliations
1 Department of Robotics and Artificial Intelligence, School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, H-12 Main Campus, Islamabad, PK
2 University of Central Punjab, Lahore, PK
3 University of Lahore, PK

Abstract

In this paper, we have investigated the performance of Iterative Linear Quadratic Regulator (ILQR) on trolley position of 3DOF crane. In ILQR, we select optimum parameters Q and R automatically instead of hit and trial method. Algorithm chooses the parameters Q and R which results in minimum trolley’s settling time of the jib system. A number of simulations have carried out using Matlab/Simulink. The results show that the optimized LQR results reduce settling time of trolley along with smaller overshoot with less rise time.

Keywords

Iterative Linear Quadratic Regulator (ILQR), Proportional Integral Derivative (PID), Three Degree of Freedom (3DOF)

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