State Constrained Controller Design for Uncertain Linear Systems using Polynomial Chaos
Nandi, S., Migeon, V., Singh, T., and Singla, P.
2016 American Control Conference, July 6-July 8, Boston, MA.
The focus of this paper is on the design of state constrained controllers which are robust to time invariant uncertain variables. Polynomial Chaos spectral expansion is used to parameterize the uncertain variables, which permits evaluation of the evolution of the uncertain states. The co-efficients of the truncated polynomial chaos expansion are determined using the Galerkin projection resulting in a set of deterministic equations. A mapping into Bernstein polynomial space permits determination of bounds on the evolving states. Linear programming is used on the deterministic set of equation with constraints as the predetermined bounds to determine controllers which are robust to the epistemic uncertainties. Numerical examples are used to illustrate the benefit of the proposed technique for the design of rest-to-rest controllers subject to deformation constraints; which are robust to uncertainties in the stiffness coefficient for the benchmark spring-mass system.