Polynomial chaos based design of robust input shapers

Tarunraj Singh, Puneet Singla, Umamaheswara Konda

Research output: Contribution to journalArticle

18 Scopus citations

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. Polynomial chaos expansions are used to approximate uncertain system states and cost functions in the stochastic space. Residual energy of the system is used as the 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 with the minimax optimization based robust input shaper design approach, which emulates a Monte Carlo process.

Original languageEnglish (US)
Pages (from-to)1-13
Number of pages13
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume132
Issue number5
DOIs
Publication statusPublished - Sep 1 2010

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

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