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Iterative Linear Quadratic Regulator (ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane


  • Department of Robotics and Artificial Intelligence, School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, H-12 Main Campus, Islamabad, Pakistan
  • University of Central Punjab, Lahore, Pakistan
  • University of Lahore, Pakistan


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.


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

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