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

P. Kulczycki, Rafal Wisniewski, P. Kowalski, K. Krawiec

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1 Citation (Scopus)

Resumé

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.
OriginalsprogEngelsk
TidsskriftControl and Cybernetics
Vol/bind33
Udgave nummer4
Sider (fra-til)573-587
Antal sider15
ISSN0324-8569
StatusUdgivet - 2004

Citer dette

Kulczycki, P. ; Wisniewski, Rafal ; Kowalski, P. ; Krawiec, K. / Hard and soft sub-time-optimal controllers for a mechanical system with uncertain mass. I: Control and Cybernetics. 2004 ; Bind 33, Nr. 4. s. 573-587.
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Hard and soft sub-time-optimal controllers for a mechanical system with uncertain mass. / Kulczycki, P.; Wisniewski, Rafal; Kowalski, P.; Krawiec, K.

I: Control and Cybernetics, Bind 33, Nr. 4, 2004, s. 573-587.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Hard and soft sub-time-optimal controllers for a mechanical system with uncertain mass

AU - Kulczycki, P.

AU - Wisniewski, Rafal

AU - Kowalski, P.

AU - Krawiec, K.

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

M3 - Journal article

VL - 33

SP - 573

EP - 587

JO - Control and Cybernetics

JF - Control and Cybernetics

SN - 0324-8569

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