Adaptive disturbance accommodating controller for uncertain stochastic systems

Jemin George, Puneet Singla, John L. Crassidis

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

4 Citations (Scopus)

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 languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Pages2599-2605
Number of pages7
DOIs
StatePublished - Nov 23 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period6/10/096/12/09

Fingerprint

Stochastic systems
Controllers
Uncertain systems
Helicopters
Kalman filters

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

George, J., Singla, P., & Crassidis, J. L. (2009). Adaptive disturbance accommodating controller for uncertain stochastic systems. In 2009 American Control Conference, ACC 2009 (pp. 2599-2605). [5160399] https://doi.org/10.1109/ACC.2009.5160399
George, Jemin ; Singla, Puneet ; Crassidis, John L. / Adaptive disturbance accommodating controller for uncertain stochastic systems. 2009 American Control Conference, ACC 2009. 2009. pp. 2599-2605
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George, J, Singla, P & Crassidis, JL 2009, Adaptive disturbance accommodating controller for uncertain stochastic systems. in 2009 American Control Conference, ACC 2009., 5160399, pp. 2599-2605, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 6/10/09. https://doi.org/10.1109/ACC.2009.5160399

Adaptive disturbance accommodating controller for uncertain stochastic systems. / George, Jemin; Singla, Puneet; Crassidis, John L.

2009 American Control Conference, ACC 2009. 2009. p. 2599-2605 5160399.

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

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George J, Singla P, Crassidis JL. Adaptive disturbance accommodating controller for uncertain stochastic systems. In 2009 American Control Conference, ACC 2009. 2009. p. 2599-2605. 5160399 https://doi.org/10.1109/ACC.2009.5160399