Abstract
An essential limitation in using the classical optimal control has been
its limited robustness to modeling inadequacies and perturbations. This paper
presents conceptions of two practical control structures based on the
time-optimal approach: hard and soft ones. The hard structure is defined by
parameters selected in accordance with the rules of the statistical decision
theory; however, the soft structure allows additionally to eliminate 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.
Originalsprog | Engelsk |
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Status | Udgivet - 2005 |