SWITCHING CONTROL DESIGN Daniel Liberzon Coordinated Science Laboratory and Dept. of Electrical & Computer Eng., Univ. of Illinois at Urbana-Champaign.

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Presentation transcript:

SWITCHING CONTROL DESIGN Daniel Liberzon Coordinated Science Laboratory and Dept. of Electrical & Computer Eng., Univ. of Illinois at Urbana-Champaign

HYBRID FEEDBACK Classical continuous feedback paradigm: u y P C u y P Plant: But logical decisions are often necessary: The closed-loop system is hybrid u y C1C1 C2C2 l o g i c P

REASONS for SWITCHING Nature of the control problem Sensor or actuator limitations Large modeling uncertainty Combinations of the above

REASONS for SWITCHING Nature of the control problem Sensor or actuator limitations Large modeling uncertainty Combinations of the above

PARKING PROBLEM Nonholonomic constraint: wheels do not slip

OBSTRUCTION to STABILIZATION Solution: move away first ?

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