Decentralized control of linear switched systems with receding horizon
Jansch Porto, Joao Paulo
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https://hdl.handle.net/2142/93074
Description
Title
Decentralized control of linear switched systems with receding horizon
Author(s)
Jansch Porto, Joao Paulo
Issue Date
2016-07-18
Director of Research (if dissertation) or Advisor (if thesis)
Dullerud, Geir E.
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(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.
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