State Controllers for Stochastic Disturbances

1991 ◽  
pp. 37-46
Author(s):  
Rolf Isermann
Keyword(s):  
Stochastic Disturbances

scholarly journals Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

2021 ◽  
Author(s):  
Hossein Nejatbakhsh Esfahani ◽  
Rafal Szlapczynski
Keyword(s):  
Dynamic Programming ◽  
Time Delay ◽  
Control Algorithm ◽  
Approximate Dynamic Programming ◽  
Robust Adaptive Control ◽  
Stochastic Disturbances ◽  
Time Delay Control ◽  
Model Free ◽  
Delay Control ◽  
Robust Adaptive

AbstractThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control algorithm. Based on this integration, Actor-Critic Time-Delay Control (AC-TDC) is proposed. It offers a high-performance robust-adaptive control approach for path following of autonomous ships under deterministic and stochastic disturbances induced by the winds, waves, and ocean currents. Computer simulations have been conducted under two different conditions in terms of the deterministic and stochastic disturbances and all simulation results indicate an acceptable performance in tracking of paths for the proposed control algorithm in comparison with the conventional TDC approach.

Nonlinear Stochastic Feedback Controllers for Vibratory Energy Harvesters With Power Flow Constraints

2011 ◽  
Author(s):  
Ian L. Cassidy ◽  
Jeffrey T. Scruggs ◽  
Sam Behrens
Keyword(s):  
Power Generation ◽  
Power Flow ◽  
Flow Direction ◽  
Average Power ◽  
Control Input ◽  
Stochastic Disturbances ◽  
Feedback Controllers ◽  
Energy Harvesters ◽  
System States ◽  
Feedback Laws

This study addresses the formulation of feedback controllers for stochastically-excited vibratory energy harvesters. Maximizing power generation from stochastic disturbances can be accomplished using LQG control theory, with the transducer current treated as the control input. For the case where the power flow direction is unconstrained, an electronic drive capable of extracting as well as delivering power to the transducer is required to implement the optimal controller. It is demonstrated that for stochastic disturbances characterized by second-order, bandpass-filtered white noise, energy harvesters can be passively tuned such that optimal stationary power generation only requires half of the system states for feedback in the active circuit. However, there are many applications where the implementation of a bi-directional power electronic drive is infeasible, due to the higher parasitic losses they must sustain. If the electronics are designed to be capable of only single-directional power flow (i.e., where the electronics are incapable of power injection), then these parasitics can be reduced significantly, which makes single-directional converters more appropriate at smaller power scales. The constraint on the directionality of power flow imposes a constraint on the feedback laws that can be implemented with such converters. In this paper, we present a sub-optimal nonlinear control design technique for this class of problems, which exhibits an analytically computable upper bound on average power generation.

scholarly journals Optimal Thrust Profile for Planetary Soft Landing Under Stochastic Disturbances

2019 ◽  
Vol 42 (1) ◽  
pp. 209-216 ◽  
Author(s):  
Ioannis Exarchos ◽  
Evangelos A. Theodorou ◽  
Panagiotis Tsiotras
Keyword(s):  
Stochastic Disturbances ◽  
Soft Landing
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