TY - GEN
T1 - Decentralized control with moving-horizon linear switched systems
T2 - 2017 American Control Conference, ACC 2017
AU - Jansch-Porto, Joao P.
AU - Dullerud, Geir E.
N1 - Publisher Copyright:
© 2017 American Automatic Control Council (AACC).
PY - 2017/6/29
Y1 - 2017/6/29
N2 - In this paper, we improve recent results on the decentralized switched control problem to include the moving horizon case and apply it to a testbed system. Using known derivations for a centralized controller with look-ahead, we were able to extend the decentralized problem with finite memory to include receding horizon modal information. We then compare the performance of a switched controller with finite memory and look-ahead horizon to that of a linear time independent (LTI) controller using a simulation. The decentralized controller is further tested with a real-world system comprised of multiple model-sized hovercrafts.
AB - In this paper, we improve recent results on the decentralized switched control problem to include the moving horizon case and apply it to a testbed system. Using known derivations for a centralized controller with look-ahead, we were able to extend the decentralized problem with finite memory to include receding horizon modal information. We then compare the performance of a switched controller with finite memory and look-ahead horizon to that of a linear time independent (LTI) controller using a simulation. The decentralized controller is further tested with a real-world system comprised of multiple model-sized hovercrafts.
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U2 - 10.23919/ACC.2017.7963059
DO - 10.23919/ACC.2017.7963059
M3 - Conference contribution
AN - SCOPUS:85027001775
T3 - Proceedings of the American Control Conference
SP - 851
EP - 856
BT - 2017 American Control Conference, ACC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 May 2017 through 26 May 2017
ER -