Biblio

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.