| EPSRC Reference: |
GR/R15504/01 |
| Title: |
Robust Nonlinear Optimal Control |
| Principal Investigator: |
Vinter, Professor RB |
| Other Investigators: |
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| Researcher Co-Investigators: |
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| Department: |
Electrical and Electronic Engineering |
| Organisation: |
Imperial College London |
| Scheme: |
Standard Research (Pre-FEC) |
| Starts: |
01 October 2001 |
Ends: |
31 March 2003 |
Value (£): |
154,847
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| EPSRC Research Topic Classifications: |
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| EPSRC Industrial Sector Classifications: |
| Aerospace, Defence and Marine |
Information Technologies |
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Summary on Grant Application Form |
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In space navigation, missile guidance, flight mechanics and related areas, standard controller design procedures make use of a local dynamic model, obtained by linearising the system dynamics about a nominal trajectory. The nominal trajectory is taken to be the solution to an optimal control problem, reflecting the economic objectives of the mission. Traditional design procedures suffer from a lack of co-ordination between nominal trajectory selection and feedback design. Selection of the nominal trajectory via performance index tuning is in effect an extra, and under-utilised, 'degree of freedom' in design, which can be exploited to improve the robustness properties of the feedback controller. We propose a new, systematic design methodology for nominal trajectories to ensure that modelling errors and disturbances can be more effectively countered by local linear feedback. The idea is to introduce a sensitivity term into the performance index, which can be tuned to strike the right balance between the minimising the original performance index and robustness. We expect significant improvements on currently available design methods, particularly in future applications to complex, multi-degree of freedom mechanical systems, where it is no longer feasible to try to improve robustness properties of the overall controller scheme by trial and error adjustment of the performance index.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.imperial.ac.uk |