Decentralized control with moving-horizon linear switched systems: Synthesis and testbed implementation

Jansch-Porto, Joao Paulo; Dullerud, Geir E.

doi:10.23919/acc.2017.7963059

Cited by 8 publications

(4 citation statements)

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“…are invertible due to positivedefiniteness of Z c i, and Z a i, , respectively. We now use the factorization in (22) and corresponding change of variables to convert the inequalities in Lemma 6 to be linear in the new variables. (21).…”

Section: Necessary Conditionsmentioning

confidence: 99%

“…Proof: Applying Lemma 20 in [21] to inequality (17), along with factorizations (22), leads to inequality (24).…”

Section: Necessary Conditionsmentioning

confidence: 99%

“…The synthesis results for a decentralized controller for nested systems with finite memory were presented in [21]. The decentralized controller synthesis was extended to include access to finite future modes in [22], and path-dependent performance bounds were considered in [23]; these papers form the basis for the theoretical work presented here. In this article, we provide proofs for the results presented in [22] and [23].…”

Section: Introductionmentioning

confidence: 99%

“…The decentralized controller synthesis was extended to include access to finite future modes in [22], and path-dependent performance bounds were considered in [23]; these papers form the basis for the theoretical work presented here. In this article, we provide proofs for the results presented in [22] and [23]. In the work developed in [19]- [23], the synthesis problem requires the number of switching paths and the number of coupled LMI equations to be the same.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Decentralized Control of Switched Systems With Receding Horizon Modal Information and Path-Dependent Performance Specifications: Theory and an Application

Jansch-Porto

Dullerud²

2022

IEEE Trans. Contr. Syst. Technol.

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In this article, we develop synthesis methods for decentralized control of switched systems with mode-dependent (more generally, path-dependent) performance specifications and apply them to an experimental vehicular testbed. This specification flexibility is important when achievable system performance varies greatly between modes, as a mode-independent specification will lead to designs that do not extract all the system performance available in each mode. More specifically, under these specifications, we derive exact conditions for the existence of block lower triangular path-dependent controllers with 2 -induced-norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP) for both uniform and path-dependent performance bounds. Building on previous results, we also introduce a basis-based approach that allows computational complexity to be more carefully controlled. We apply the resulting design methods to a group of miniature quadcopters, illustrating different features of the presented methods, along with some practical engineering considerations.

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Section: Necessary Conditionsmentioning

confidence: 99%

“…Proof: Applying Lemma 20 in [21] to inequality (17), along with factorizations (22), leads to inequality (24).…”

Section: Necessary Conditionsmentioning

confidence: 99%