A probabilistic approach for robust input shapers design for precise point-to-point control

Puneet Singla, Tarunraj Singhy, Umamaheswara Konda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
Publication statusPublished - Dec 1 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, IL, United States
Duration: Aug 10 2009Aug 13 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit
CountryUnited States
CityChicago, IL
Period8/10/098/13/09

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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Singla, P., Singhy, T., & Konda, U. (2009). A probabilistic approach for robust input shapers design for precise point-to-point control. In AIAA Guidance, Navigation, and Control Conference and Exhibit [2009-5629] (AIAA Guidance, Navigation, and Control Conference and Exhibit).