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Conference Paper: Multi-modal control of systems with constraints

TitleMulti-modal control of systems with constraints
Authors
Issue Date2001
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188
Citation
Proceedings Of The Ieee Conference On Decision And Control, 2001, v. 3, p. 2075-2080 How to Cite?
AbstractIn multi-modal control paradigm, a set of controllers of satisfactory performance have already been designed and must be used. Each controller may be designed for a different set of outputs in order to meet the given performance objectives and system constraints. When such a collection of control modes is available, an important problem is to be able to accomplish a variety of high level tasks by appropriately switching between the low-level control modes. In this paper, we propose a framework for determining the sequence of control modes that will satisfy teachability tasks. Our framework exploits the structure of output tracking controllers in order to extract a finite graph where the mode switching problem can be efficiently solved, and then implement it using the continuous controllers. Our approach is illustrated on a robot manipulator example, where we determine the mode switching logic that achieves the given teachability task.
Persistent Identifierhttp://hdl.handle.net/10722/188703
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorKoo, TJen_US
dc.contributor.authorPappas, GJen_US
dc.contributor.authorSastry, Sen_US
dc.date.accessioned2013-09-03T04:13:35Z-
dc.date.available2013-09-03T04:13:35Z-
dc.date.issued2001en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 2001, v. 3, p. 2075-2080en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/188703-
dc.description.abstractIn multi-modal control paradigm, a set of controllers of satisfactory performance have already been designed and must be used. Each controller may be designed for a different set of outputs in order to meet the given performance objectives and system constraints. When such a collection of control modes is available, an important problem is to be able to accomplish a variety of high level tasks by appropriately switching between the low-level control modes. In this paper, we propose a framework for determining the sequence of control modes that will satisfy teachability tasks. Our framework exploits the structure of output tracking controllers in order to extract a finite graph where the mode switching problem can be efficiently solved, and then implement it using the continuous controllers. Our approach is illustrated on a robot manipulator example, where we determine the mode switching logic that achieves the given teachability task.en_US
dc.languageengen_US
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188en_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.titleMulti-modal control of systems with constraintsen_US
dc.typeConference_Paperen_US
dc.identifier.emailKoo, TJ: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJ=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0035712420en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0035712420&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.spage2075en_US
dc.identifier.epage2080en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridKoo, TJ=7005428590en_US
dc.identifier.scopusauthoridPappas, GJ=7102070429en_US
dc.identifier.scopusauthoridSastry, S=35560685800en_US

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