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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Srivastava, P. Srivastava, S. Parthasarthy, H. |
| Copyright Year | 2014 |
| Description | Author affiliation: Netaji Subhash Inst. of Technol., New Delhi, India (Srivastava, P.; Srivastava, S.; Parthasarthy, H.) |
| Abstract | In this paper the optimal stochastic control of coupled motors is discussed. The unperturbed currents of the motors are designed to follow the prescribed trajectory in the absence of noise. However owing to noise in the current sources, the motors do not follow the prescribed trajectory. In order to correct these errors, we introduce non random perturbation in the current which are controlled by Pulse Amplitude Modulation(PAM) signals. Based on perturbation theory we set up a sequence of equation of coupled second order differential equation in the angle perturbation terms(ε). These equations are solved sequentially using linear state variable theory. These solutions are expressed up to fourth order perturbation terms using first to fourth degree Volterra terms in the noise processes & first and second degree Volterra terms in the PAM current sources. These expressions are used to calculate mean square error(MSE) between the actual trajectories of the motors & desired trajectories up to fourth order perturbation $terms(ε^{4}).$ This expression for the MSE containing constant terms, linear terms & quadratic terms in the current perturbation. The Kernel coefficient appearing in this expression involve noise auto correlation function setting the variational derivatives of these MSE with respect to the PAM current sequences results in a set of linear matrix equation for the PAM current sequences which we solved using MATLAB. |
| Starting Page | 797 |
| Ending Page | 800 |
| File Size | 523957 |
| Page Count | 4 |
| File Format | |
| e-ISBN | 9781479931408 |
| DOI | 10.1109/ICSPCT.2014.6884898 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-07-12 |
| Publisher Place | India |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Damping Perturbation theory Noise correlation Correlation Torque Gaussian noise Noise Pulse amplitude modulation Spring interaction Springs Error energy Coupled motors |
| Content Type | Text |
| Resource Type | Article |
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