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Design and Simulation of LQR and LQG Controller for Crane System

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omkarchittar/Control_of_Crane_System

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Analysing a two pendulum crane, then Developing and Implementing a control system for it

ENPM667-Final-Project

Description:

  • Equations of motion for the system
  • Obtain a Linearization of the given system
  • Controllable conditions for the linearized system
  • LQR Controller for the Linearized and the Non- Linear Systems
  • Determine the observability of the Linearized and Non-Linear Systems
  • Developing a Luenberger Observer for the system
  • LQG Controller for the Linearized and the Non- Linear Systems

Control of Robotic Systems

Team Members
Omkar Chittar
Abhishekh Reddy

Contents

  1. Simulations
  2. Project paper
  3. Report

Dependencies

  • Matlab

How to run the code

  • Download the simulation folder
  • Open Matlab
  • Run the mlx file that is associated with each problem in the matlab workbench
  • the resulting plots should be displayed as shown in the report

Contact Author

Name : Omkar Chittar
Email : [email protected]