switching control design daniel liberzon coordinated science laboratory and dept. of electrical...
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SWITCHING CONTROL DESIGN
Daniel Liberzon
Coordinated Science Laboratory andDept. of Electrical & Computer Eng.,Univ. of Illinois at Urbana-Champaign
HYBRID FEEDBACK
Classical continuous feedback paradigm:
u yP
C
u yPPlant:
But logical decisions are often necessary:
The closed-loop system is hybrid
u y
C1
C2
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
2x
1x
cos11 wx
sin12 wx
2w
Nonholonomic constraint: wheels do not slip
OBSTRUCTION to STABILIZATION
Solution: move away first
?
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