PMAC: probabilistic multimodality adaptive control

This paper develops a probabilistic multimodal adaptive control approach for systems that are characterised by temporal multimodality where the system dynamics are subject to abrupt mode switching at arbitrary times. In this framework, the control objective is redefined such that it utilises the com...

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Veröffentlicht in:International journal of control Jg. 93; H. 7; S. 1637 - 1650
Hauptverfasser: Herzallah, Randa, Lowe, David
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Abingdon Taylor & Francis 02.07.2020
Taylor & Francis Ltd
Schlagworte:
Adaptive control
Computer simulation
Control theory
Multi-modal density model
multiobjective probabilistic control
Nonlinear dynamics
operator Riccati equation
probabilistic multimodal adaptive control
Statistical analysis
Switching
switching control
System dynamics
temporal multimodality
ISSN:0020-7179, 1366-5820
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Zusammenfassung:This paper develops a probabilistic multimodal adaptive control approach for systems that are characterised by temporal multimodality where the system dynamics are subject to abrupt mode switching at arbitrary times. In this framework, the control objective is redefined such that it utilises the complete probability distribution of the system dynamics. The derived probabilistic control law is thus of a dual type that incorporates the functional uncertainty of the controlled system. A multi-modal density model with prediction error-dependent mixing coefficients is introduced to effect the mode switching. This approach can deal with arbitrary noise distributions, nonlinear plant dynamics and arbitrary mode switching. For the affine systems focussed upon for illustration in this paper the approach has global stability. The theoretical architecture constructs are verified by validation on a simulation example.
Bibliographie:ObjectType-Article-1
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ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2018.1523567