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Title:Decentralized control of linear switched systems with receding horizon
Author(s):Jansch Porto, Joao Paulo
Advisor(s):Dullerud, Geir E
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):H infinity control
hybrid systems
linear matrix inequalities
switched systems
decentralized control
nested systems
Abstract:In this thesis, we consider the decentralized switched control problem where exact conditions for controller synthesis are obtained via Linear Matrix Inequalities (LMIs). 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 MATLAB simulation. The decentralized controller is further tested with a real-world system comprised of two HoTDeC hovercrafts.
Issue Date:2016-07-18
Type:Thesis
URI:http://hdl.handle.net/2142/93074
Rights Information:Copyright 2016 Joao Paulo Jansch Porto
Date Available in IDEALS:2016-11-10
Date Deposited:2016-08


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