This paper proposes a polynomial chaos based numerical method providing an optimal controller for the linear-quadratic regulator (LQR) problem when the parameters in the formulation are uncertain, i.e., a controller minimizing the mean value of the LQR cost function obtained for a certain distribution of the uncertainties which is assumed to be known. The LQR problem is written as an optimality problem using Lagrange multipliers in an extended form associated with the polynomial chaos framework, and an iterative algorithm converges to the optimal answer. The algorithm is applied to a simple example for which the answer is already known. Polynomial chaos based methods have the advantage of being computationally much more efficient than Monte Carlo simulations. The Linear-Quadratic Regulator controller is not very well adapted to robust design, and the optimal controller does not guarantee a minimum performance or even stability for the worst case scenario. Stability robustness and performance robustness in the presence of uncertainties are therefore not guaranteed. However, this is a first step aimed at designing more judicious controllers if combined with other techniques in the future. The next logical step would be to extend this numerical method to H2 and then H-infinity problems.
- Design Engineering Division and Computers in Engineering Division
Polynomial-Chaos-Based Numerical Method for the LQR Problem With Uncertain Parameters in the Formulation
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Blanchard, E, Sandu, C, & Sandu, A. "Polynomial-Chaos-Based Numerical Method for the LQR Problem With Uncertain Parameters in the Formulation." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems. Montreal, Quebec, Canada. August 15–18, 2010. pp. 315-324. ASME. https://doi.org/10.1115/DETC2010-28467
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