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dc.contributor.advisorBhattacharya, Raktim
dc.contributor.advisorDatta, Aniruddha
dc.creatorSaraf, Radhika Shailesh
dc.date.accessioned2017-08-21T14:37:25Z
dc.date.created2017-05
dc.date.issued2017-04-10
dc.date.submittedMay 2017
dc.identifier.urihttp://hdl.handle.net/1969.1/161415
dc.description.abstractIn this thesis, I shall present an integrated approach to control and sensing design. The framework assumes sensor noise as a design variable along with the controller and determines l1 regularized optimal sensing precision. This design satisfies a given closed-loop performance in the presence of model uncertainty. Two methods will be proposed to achieve this. The first method designs a controller for an open loop uncertain system, which is scaled in order to have a finite H2 norm. Within this, two approaches have been pursued. In the first approach, uncertainty has been represented as polytopic and, in the second formulation, modelled using integral quadratic constraints (IQC). These two approaches have been applied to an active suspension control and sensing design problem and demonstrate that the IQC based approach provides better results and is able to incorporate larger system uncertainty. The second method finds an appropriate scaling to bound the H2 norm of an uncertain controlled system. The sensor precision is found as the minimal solution to an optimization problem. The design is tested for stability and robustness on a tensegrity robot arm model.
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.subjectControl
dc.subjectRobust
dc.titleH2 Optimal Sensing Architecture with Model Uncertainty
dc.typeThesis
thesis.degree.departmentElectrical and Computer Engineering
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorTexas A & M University
thesis.degree.nameMaster of Science
thesis.degree.levelMasters
dc.contributor.committeeMemberKumar, P R
dc.contributor.committeeMemberSkelton, Robert
dc.type.materialtext
dc.date.updated2017-08-21T14:37:25Z
local.embargo.terms2019-05-01
local.embargo.lift2019-05-01
local.etdauthor.orcid0000-0002-3026-3421


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