Publication Details

Reliability-Based Control System Optimization in Uncertain Conditions

NOVÁK, J.; HANÁK, J.; CHUDÝ, P. Reliability-Based Control System Optimization in Uncertain Conditions. In AIAA Aviation Forum and ASCEND, 2024. Las Vegas: American Institute of Aeronautics and Astronautics, 2024. p. 1-15. ISBN: 978-1-62410-716-0.
Czech title
Optimalizace řídicího systému založená na spolehlivosti v nejistotním prostředí
Type
conference paper
Language
English
Authors
Novák Jiří, Ing., Ph.D. (DCGM)
Hanák Jiří, Ing., Ph.D. (FIT)
Chudý Peter, doc. Ing., Ph.D., MBA (FIT)
URL
Keywords

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

Abstract

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. 

Published
2024
Pages
1–15
Proceedings
AIAA Aviation Forum and ASCEND, 2024
Conference
AIAA AVIATION Forum, Las Vegas, US
ISBN
978-1-62410-716-0
Publisher
American Institute of Aeronautics and Astronautics
Place
Las Vegas
DOI
10.2514/6.2024-4571
EID Scopus
2-s2.0-85204236878
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"
}
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