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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 on theme: "SWITCHING CONTROL DESIGN Daniel Liberzon Coordinated Science Laboratory and Dept. of Electrical & Computer Eng., Univ. of Illinois at Urbana-Champaign."— Presentation transcript:

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

2 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

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

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

5 PARKING PROBLEM Nonholonomic constraint: wheels do not slip

6 OBSTRUCTION to STABILIZATION Solution: move away first ?

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