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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