Decentralized Control with Moving-Horizon Linear Switched Systems: Synthesis and Testbed Implementation
| Title | Decentralized Control with Moving-Horizon Linear Switched Systems: Synthesis and Testbed Implementation |
| Publication Type | Conference Paper |
| Year of Publication | 2017 |
| Authors | Joao Jansch Porto, Geir Dullerud, University of Illinois at Urbana-Champaign |
| Conference Name | American Control Conference 2017 |
| Conference Location | Seattle, WA |
| Keywords | science of security, Static-Dynamic Analysis of Security Metrics for Cyber-Physical Systems |
| 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. |
| Citation Key | node-36597 |
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