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Design of switching controllers for systems with changing dynamics

Žefran, Miloš and Burdick, Joel W. (1998) Design of switching controllers for systems with changing dynamics. In: Proceedings of the 37th IEEE Conference on Decision and Control. Vol.2. IEEE , Piscataway, NJ, pp. 2113-2118. ISBN 0-7803-4394-8.

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We present a framework for designing stable control schemes for systems with changing dynamics (SCD). Such systems form a subset of hybrid systems; their stabilization is therefore a problem in hybrid control. It is often difficult or even impossible to design a single controller that would stabilize a SCD. An appealing alternative are switching control schemes, where a different controller is employed in each dynamic regime and the stability of the overall system is ensured through an appropriate switching scheme. We formulate a set of sufficient conditions for the stability of a switching control scheme. We show that by imposing a hierarchy among the controllers, sufficient conditions can be formulated in a form suitable for the controller design. The hierarchy is formally defined through a partial order. Our methodology is applied to stabilization of a two-wheel mobile robot of the Hilare type, where the wheels are allowed to slip.

Item Type:Book Section
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Additional Information:© 1998 IEEE. The funding for this work has been provided by the NSF grant CSE-9704702 and the AFOSR grant F49620-96-1-0471.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)F49620-96-1-0471
Subject Keywords:systems with changing dynamics, hybrid systems, switching controllers, partial order, Hilare robot
Record Number:CaltechAUTHORS:20190624-101814547
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Official Citation:M. Zefran and J. W. Burdick, "Design of switching controllers for systems with changing dynamics," Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171), Tampa, FL, USA, 1998, pp. 2113-2118 vol.2. doi: 10.1109/CDC.1998.758647
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96660
Deposited By: Tony Diaz
Deposited On:24 Jun 2019 18:34
Last Modified:16 Nov 2021 17:22

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