Adaptive disturbance accommodating controller for uncertain stochastic systems

Jemin George; Puneet Singla; John L. Crassidis

doi:10.1109/ACC.2009.5160399

Adaptive disturbance accommodating controller for uncertain stochastic systems

Jemin George, Puneet Singla, John L. Crassidis

Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

This paper presents a Kalman filter-based adaptive disturbance- accommodating stochastic control scheme for linear uncertain systems to minimize the adverse effects of both model uncertainties and external disturbances. A rigorous stochastic stability analysis reveals a lower bound requirement on system process noise covariance to ensure the stability of the controlled system when the nominal control action on the true plant is unstable. Finally, an adaptive law is synthesized for the selection of stabilizing system process noise covariance. Simulation results are presented where the proposed control scheme is implemented on a two degree-of-freedom helicopter.

Original language	English (US)
Title of host publication	2009 American Control Conference, ACC 2009
Pages	2599-2605
Number of pages	7
DOIs	https://doi.org/10.1109/ACC.2009.5160399
State	Published - 2009
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: Jun 10 2009 → Jun 12 2009

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2009 American Control Conference, ACC 2009
Country/Territory	United States
City	St. Louis, MO
Period	6/10/09 → 6/12/09

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2009.5160399

Cite this

@inproceedings{9c74f155e7bb41cc83a3ef518f0fc38e,

title = "Adaptive disturbance accommodating controller for uncertain stochastic systems",

abstract = "This paper presents a Kalman filter-based adaptive disturbance- accommodating stochastic control scheme for linear uncertain systems to minimize the adverse effects of both model uncertainties and external disturbances. A rigorous stochastic stability analysis reveals a lower bound requirement on system process noise covariance to ensure the stability of the controlled system when the nominal control action on the true plant is unstable. Finally, an adaptive law is synthesized for the selection of stabilizing system process noise covariance. Simulation results are presented where the proposed control scheme is implemented on a two degree-of-freedom helicopter.",

author = "Jemin George and Puneet Singla and Crassidis, {John L.}",

year = "2009",

doi = "10.1109/ACC.2009.5160399",

language = "English (US)",

isbn = "9781424445240",

series = "Proceedings of the American Control Conference",

pages = "2599--2605",

booktitle = "2009 American Control Conference, ACC 2009",

}

TY - GEN

T1 - Adaptive disturbance accommodating controller for uncertain stochastic systems

AU - George, Jemin

AU - Singla, Puneet

AU - Crassidis, John L.

PY - 2009

Y1 - 2009

N2 - This paper presents a Kalman filter-based adaptive disturbance- accommodating stochastic control scheme for linear uncertain systems to minimize the adverse effects of both model uncertainties and external disturbances. A rigorous stochastic stability analysis reveals a lower bound requirement on system process noise covariance to ensure the stability of the controlled system when the nominal control action on the true plant is unstable. Finally, an adaptive law is synthesized for the selection of stabilizing system process noise covariance. Simulation results are presented where the proposed control scheme is implemented on a two degree-of-freedom helicopter.

AB - This paper presents a Kalman filter-based adaptive disturbance- accommodating stochastic control scheme for linear uncertain systems to minimize the adverse effects of both model uncertainties and external disturbances. A rigorous stochastic stability analysis reveals a lower bound requirement on system process noise covariance to ensure the stability of the controlled system when the nominal control action on the true plant is unstable. Finally, an adaptive law is synthesized for the selection of stabilizing system process noise covariance. Simulation results are presented where the proposed control scheme is implemented on a two degree-of-freedom helicopter.

UR - http://www.scopus.com/inward/record.url?scp=70449688002&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70449688002&partnerID=8YFLogxK

U2 - 10.1109/ACC.2009.5160399

DO - 10.1109/ACC.2009.5160399

M3 - Conference contribution

AN - SCOPUS:70449688002

SN - 9781424445240

T3 - Proceedings of the American Control Conference

SP - 2599

EP - 2605

BT - 2009 American Control Conference, ACC 2009

T2 - 2009 American Control Conference, ACC 2009

Y2 - 10 June 2009 through 12 June 2009

ER -

Adaptive disturbance accommodating controller for uncertain stochastic systems

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this