Optimal Trajectory Generation With Probabilistic System Uncertainty Using Polynomial Chaos Academic Article

abstract

• In this paper, we develop a framework for solving optimal trajectory generation problems with probabilistic uncertainty in system parameters. The framework is based on the generalized polynomial chaos theory. We consider both linear and nonlinear dynamics in this paper and demonstrate transformation of stochastic dynamics to equivalent deterministic dynamics in higher dimensional state space. Minimum expectation and variance cost function are shown to be equivalent to standard quadratic cost functions of the expanded state vector. Results are shown on a stochastic Van der Pol oscillator.

authors

• Bhattacharya, Raktim

published proceedings

• JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

author list (cited authors)

• Fisher, J., & Bhattacharya, R.

citation count

• 45

complete list of authors

• Fisher, James||Bhattacharya, Raktim

publication date

• January 2011

publisher

• ASME International  Publisher

published in

• Journal of Dynamic Systems Measurement and Control: Transactions of the ASME  Journal

keywords

• 40 Engineering

Digital Object Identifier (DOI)

• 10.1115/1.4002705

start page

• 014501

volume

• 133

issue

• 1

URL

• http://dx.doi.org/10.1115/1.4002705