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

Joao P. Jansch-Porto; Geir E. Dullerud

doi:10.23919/ACC.2017.7963059

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	2017 American Control Conference, ACC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	851-856
Number of pages	6
ISBN (Electronic)	9781509059928
DOIs	https://doi.org/10.23919/ACC.2017.7963059
State	Published - Jun 29 2017
Event	2017 American Control Conference, ACC 2017 - Seattle, United States Duration: May 24 2017 → May 26 2017

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2017 American Control Conference, ACC 2017
Country/Territory	United States
City	Seattle
Period	5/24/17 → 5/26/17

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.23919/ACC.2017.7963059

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Jansch-Porto, J. P., & Dullerud, G. E. (2017). Decentralized control with moving-horizon linear switched systems: Synthesis and testbed implementation. In 2017 American Control Conference, ACC 2017 (pp. 851-856). Article 7963059 (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963059

Decentralized control with moving-horizon linear switched systems: Synthesis and testbed implementation. / Jansch-Porto, Joao P.; Dullerud, Geir E.
2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 851-856 7963059 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jansch-Porto, JP & Dullerud, GE 2017, Decentralized control with moving-horizon linear switched systems: Synthesis and testbed implementation. in 2017 American Control Conference, ACC 2017., 7963059, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 851-856, 2017 American Control Conference, ACC 2017, Seattle, United States, 5/24/17. https://doi.org/10.23919/ACC.2017.7963059

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

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