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Optimal controller for uncertain stochastic polynomial systems
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DOI：10.1016/j.jfranklin.2008.08.004.png)
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This paper presents the optimal quadratic-Gaussian controller for uncertain stochastic polynomial systems with linear control input and a quadratic criterion over linear observations. The optimal closed-form controller equations are obtained using the separation principle, whose applicability to the considered problem is substantiated. As intermediate results, the paper gives closed-form solutions of the optimal regulator and controller problems for stochastic polynomial systems with linear control input and a quadratic criterion. Performance of the obtained optimal controller is verified in the illustrative example against the conventional quadratic-Gaussian controller that is optimal for stochastic polynomial systems with known parameters. Simulation graphs demonstrating overall performance and computational accuracy of the designed optimal controller are included. (C) 2008 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Keyword:
Kalman
filtering
Optimal control
Uncertain stochastic polynomial system
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3.7
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6.4K
被引数:
1.5W
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Optimal LQG controller for linear stochastic systems with unknown parameters具有未知参数的线性随机系统的最优LQG控制器
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