Detail publikace

Reliability-Based Control System Optimization in Uncertain Conditions

NOVÁK, J. HANÁK, J. CHUDÝ, P.

Originální název

Reliability-Based Control System Optimization in Uncertain Conditions

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

This paper presents an automated control system tuning approach with emphasis on reliability with respect to vehicle's Operational Design Domain (ODD). A joined approach based on Cross-Entropy Method (CEM) and Polynomial Chaos Expansion (PCE) Kriging based surrogate model is used to sample candidate set of system parameters and estimate failure boundary region considering specified ODD. The estimated probability of failure is subsequently used for the sampling distribution update. We show the effectiveness of this approach on number of examples such as control system optimization of Unmanned Aerial vehicle (UAV) modified for aerial grasping. A dedicated Nonlinear Model Predictive Control (NMPC) is developed to solve the coupled control of UAV and robotic arm simultaneously. 

Klíčová slova

Polynomial Chaos Expansion, Cross-Entropy Method, Model Predictive Control

Autoři

NOVÁK, J.; HANÁK, J.; CHUDÝ, P.

Vydáno

2. 8. 2024

Nakladatel

American Institute of Aeronautics and Astronautics

Místo

Las Vegas

ISBN

978-1-62410-716-0

Kniha

AIAA Aviation Forum and ASCEND, 2024

Strany od

1

Strany do

15

Strany počet

15

URL

https://arc.aiaa.org/doi/10.2514/6.2024-4571

BibTex

@inproceedings{BUT189119,
  author="Jiří {Novák} and Jiří {Hanák} and Peter {Chudý}",
  title="Reliability-Based Control System Optimization in Uncertain Conditions",
  booktitle="AIAA Aviation Forum and ASCEND, 2024",
  year="2024",
  pages="1--15",
  publisher="American Institute of Aeronautics and Astronautics",
  address="Las Vegas",
  doi="10.2514/6.2024-4571",
  isbn="978-1-62410-716-0",
  url="https://arc.aiaa.org/doi/10.2514/6.2024-4571"
}