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Scalable approach to uncertainty quantification and robust design of interconnected dynamical systems

Banaszuk, Andrzej and Fonoberov, Vladimir A. and Frewen, Thomas A. and Kobilarov, Marin and Mathew, George and Mezic, Igor and Pinto, Alessandro and Sahai, Tuhin and Sane, Harshad and Speranzon, Alberto and Surana, Amit (2011) Scalable approach to uncertainty quantification and robust design of interconnected dynamical systems. Annual Reviews in Control, 35 (1). pp. 77-98. ISSN 1367-5788.

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Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks.

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Additional Information:© 2011 Elsevier Ltd. Received 23 December 2010; accepted 2 February 2011. Available online 14 April 2011. This work was supported in part by DARPA DSO under AFOSR Contract FA9550-07-C-0024, Robust Uncertainty Management (RUM). Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the AFOSR or DARPA. The authors will like to thank Jerrold E. Marsden, Matthew West, Sean P. Meyn, Calin Belta, Michael Dellnitz, Sudha Krishnamurthy, Suresh Kannan, Konda Reddy Chevva, Sanjay Bajekal, Sophie Lorie and Jose M. Pasini, for useful discussions and feedback. We would especially like to acknowledge the profound influence that Jerry Marsden had on this research direction and on many of us personally. Jerry brought to us the idea of using graph decomposition to break the complexity of computations and analysis in uncertain dynamic networks, the key idea behind the RUM project. In fact, Jerry was the person who invented the acronym DyNARUM (Dynamic Network Analysis for Robust Uncertainty Management), which was how we internally called the RUM project. Jerry Marsden was also one of the champions of using precomputed piecewise optimal motion primitives. Finally, Jerry Marsden has personally inspired many of us to pursue some of the key research ideas included in this paper. We called the positive influence of the discussions with Jerry Marsden that stayed with us for a long time after the discussions and kept us pursuing the research with hope and excitement "the Jerry effect." This paper is a result of the "Jerry effect" that is still within us.
Funding AgencyGrant Number
DARPA DSO under AFOSRFA9550-07-C-0024
Subject Keywords:Aerospace systems; Graph decomposition; Model based design; Motion planning; Uncertainty
Issue or Number:1
Record Number:CaltechAUTHORS:20110623-113601176
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Official Citation:Andrzej Banaszuk, Vladimir A. Fonoberov, Thomas A. Frewen, Marin Kobilarov, George Mathew, Igor Mezic, Alessandro Pinto, Tuhin Sahai, Harshad Sane, Alberto Speranzon, Amit Surana, Scalable approach to uncertainty quantification and robust design of interconnected dynamical systems, Annual Reviews in Control, Volume 35, Issue 1, April 2011, Pages 77-98, ISSN 1367-5788, DOI: 10.1016/j.arcontrol.2011.03.005.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:24183
Deposited By: Jason Perez
Deposited On:23 Jun 2011 21:16
Last Modified:03 Oct 2019 02:54

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