Conditional distribution modeling for estimating and exploiting uncertainty in control systems

Randa Herzallah, David Lowe

Research output: Preprint or Working paperTechnical report

Abstract

This paper presents a general methodology for estimating and incorporating uncertainty in the controller and forward models for noisy nonlinear control problems. Conditional distribution modeling in a neural network context is used to estimate uncertainty around the prediction of neural network outputs. The developed methodology circumvents the dynamic programming problem by using the predicted neural network uncertainty to localize the possible control solutions to consider. A nonlinear multivariable system with different delays between the input-output pairs is used to demonstrate the successful application of the developed control algorithm. The proposed method is suitable for redundant control systems and allows us to model strongly non Gaussian distributions of control signal as well as processes with hysteresis.
Original languageEnglish
Place of PublicationBirmingham
PublisherAston University
ISBN (Print)NCRG/2003/010
Publication statusUnpublished - 27 May 2003

Keywords

  • uncertainty in the controller and forward models
  • noisy nonlinear control problems
  • Conditional distribution modeling
  • neural network
  • dynamic programming problem
  • nonlinear multivariable system
  • redundant control systems
  • non Gaussian distributions
  • control signal
  • hysteresis

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