Reliability-Based Control System Optimization in Uncertain Conditions
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F24%3APU151746" target="_blank" >RIV/00216305:26230/24:PU151746 - isvavai.cz</a>
Result on the web
<a href="https://arc.aiaa.org/doi/10.2514/6.2024-4571" target="_blank" >https://arc.aiaa.org/doi/10.2514/6.2024-4571</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.2514/6.2024-4571" target="_blank" >10.2514/6.2024-4571</a>
Alternative languages
Result language
angličtina
Original language name
Reliability-Based Control System Optimization in Uncertain Conditions
Original language description
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.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
AIAA Aviation Forum and ASCEND, 2024
ISBN
978-1-62410-716-0
ISSN
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e-ISSN
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Number of pages
15
Pages from-to
1-15
Publisher name
American Institute of Aeronautics and Astronautics
Place of publication
Las Vegas
Event location
Las Vegas
Event date
Jul 29, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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