|SABUG LORENZO JR||Cycle: XXXV |
Section: Systems and Control
Tutor: PIRODDI LUIGI
Advisor: FAGIANO LORENZO MARIO Major Research topic
:On the robust approaches to simultaneous system and controller optimization for autonomous systemsAbstract:
A widely-adopted approach for controlling a plant is to select a control strategy, and optimize their coefficients, in order to achieve the desired performance. This approach is acceptable in many cases, particularly when the plant to be controlled is already existing. However, in many cases including robot design and development, the plant itself serves as the system performance bottleneck even when using the best controller. The current approach for this problem is usually to design the plant, then design the controller, and afterwards adjusting the plant design, and so on. This approach not only takes a large amount of development time, but might also arrive at a sub-optimal plant for the high-level mission objective. Hence, there is an ample opportunity to approach this problem through concurrent design of the plant and the controller (also called system-controller co-design), whose combination fulfills requirements on performance and cost. Previous works have approached the problem using various combinatorial and continuous optimization. However, parameter uncertainties and disturbances were not considered in the problem formulation and optimization development. This research work entails investigation on different techniques of system-controller co-design, from the definition of a high-level mission objective. The co-design problem will consider plant parameter uncertainties and disturbances which might be encountered in a particular mission. All results are tested and verified for the practical problem of multicopter design for different missions.