Hard and soft sub-time-optimal controllers for a mechanical system with uncertain mass

• Autorzy: Kulczycki P. , Wisniewski R. , Kowalski P. , Krawiec K.
• Języki publikacji: EN

Abstrakty

EN

An essential limitation in using the classical optimal control has been its limited robustness to modeling inadequacies and perturbations. This paper presents the concepts of two practical control structures based on the time-optimal approach, a hard and soft one. The hard structure is defined by the parameters selected in accordance with the rules of the statistical decision theory: however, the soft structure allows additionally for elimination of rapid changes in control values. The object is a basic mechanical system, with uncertain (also non-stationary) mass treated as a stochastic process. The methodology proposed here is of a universal nature and may easily be applied with respect to other elements of uncertainty of time-optimal controlled mechanical systems.

Słowa kluczowe

EN

optimal control; mechanical system; uncertain mass; stochastic process; suboptimal structure; robustness

PL

sterowanie optymalne; system mechaniczny; masa niepewna; proces stochastyczny; budowa podoptymalna; odporność

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2004
• Tom: Vol. 33, no 4
• Strony: 573--587
• Opis fizyczny: Bibliogr. 17 poz., wykr.

Twórcy

autor

Kulczycki P.

• Systems Research Institute, Polish Academy of Sciences, ul. Newelska 6, 01-447 Warsaw, Poland

autor

Wisniewski R.

• Department of Control Engineering, Aalborg University Fredrik Bajers Vej 7, 9220 Aalborg Ø, Denmark

autor

Kowalski P.

• Department of Automatic Control, Cracow University of Technology ul. Warszawska 24, 31-155 Cracow, Poland

autor

Krawiec K.

• Department of Automatic Control, Cracow University of Technology ul. Warszawska 24, 31-155 Cracow, Poland

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