Optimal control strategies for robust certification

Leyendecker S, Lucas LJ, Owhadi H, Ortiz M (2010)

Publication Language: English

Publication Type: Journal article

Publication year: 2010

Journal

Journal of Computational and Nonlinear Dynamics American Society of Mechanical Engineers (ASME)

Book Volume: Volume 5

Pages Range: 031008

Journal Issue: Number 031008

DOI: 10.1115/1.4001375

Abstract

We present an optimal control methodology, which we refer to as concentration-ofmeasure optimal control (COMOC), that seeks to minimize a concentration-of-measure upper bound on the probability of failure of a system. The systems under consideration are characterized by a single performance measure that depends on random inputs through a known response function. For these systems, concentration-of-measure upper bound on the probability of failure of a system can be formulated in terms of the mean performance measure and a system diameter that measures the uncertainty in the peration of the system. COMOC then seeks to determine the optimal controls that maximize the confidence in the safe operation of the system, defined as the ratio of the design margin, which is measured by the difference between the mean performance and the design threshold, to the system uncertainty, which is measured by the system diameter. This strategy has been assessed in the case of a robot-arm maneuver for which the performance measure of interest is assumed to be the placement accuracy of the arm tip. The ability of COMOC to significantly increase the design confidence in that particular example of application is demonstrated. © 2010 by ASME.

Authors with CRIS profile

Sigrid Leyendecker

Additional Organisation(s)

Institute of Applied Dynamics

Involved external institutions

California Institute of Technology (Caltech)

United States (USA) (US) Freie Universität Berlin

Germany (DE)

How to cite

APA:

Leyendecker, S., Lucas, L.J., Owhadi, H., & Ortiz, M. (2010). Optimal control strategies for robust certification. Journal of Computational and Nonlinear Dynamics, Volume 5(Number 031008), 031008. https://doi.org/10.1115/1.4001375

MLA:

Leyendecker, Sigrid, et al. "Optimal control strategies for robust certification." Journal of Computational and Nonlinear Dynamics Volume 5.Number 031008 (2010): 031008.

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