TY - GEN
T1 - A probabilistic approach for robust input shapers design for precise point-to-point control
AU - Singla, Puneet
AU - Singhy, Tarunraj
AU - Konda, Umamaheswara
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - A probabilistic approach which exploits the domain and distribution of the uncertain model parameters has been developed for the design of robust input shapers. A Polynomial Chaos based expansion approach is used to approximate uncertain system states and cost functions in terms of finite-dimensional series expansion in the stochastic space. Residual energy of the system is used as cost function to design robust input shapers for precise rest- to-rest maneuvers. An optimization problem which minimizes any moment or combination of moments of the distribution function of the residual energy is formulated. Numerical examples are used to illustrate the benefit of using the Polynomial Chaos based probabilistic approach for the determination of robust Input Shapers for uncertain linear systems. The solution of Polynomial Chaos based approach is compared to the minimax optimization based robust input shaper design approach which emulates a Monte Carlo process.
AB - A probabilistic approach which exploits the domain and distribution of the uncertain model parameters has been developed for the design of robust input shapers. A Polynomial Chaos based expansion approach is used to approximate uncertain system states and cost functions in terms of finite-dimensional series expansion in the stochastic space. Residual energy of the system is used as cost function to design robust input shapers for precise rest- to-rest maneuvers. An optimization problem which minimizes any moment or combination of moments of the distribution function of the residual energy is formulated. Numerical examples are used to illustrate the benefit of using the Polynomial Chaos based probabilistic approach for the determination of robust Input Shapers for uncertain linear systems. The solution of Polynomial Chaos based approach is compared to the minimax optimization based robust input shaper design approach which emulates a Monte Carlo process.
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M3 - Conference contribution
AN - SCOPUS:78049290500
SN - 9781563479786
T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit
BT - AIAA Guidance, Navigation, and Control Conference and Exhibit
T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit
Y2 - 10 August 2009 through 13 August 2009
ER -