Robust Embedded Control using Randomized Switching Algorithms

Multiple model adaptive control (MMAC) is an adaptive control method designed for plant parameter uncertainty given both linear and non-linear plant models. For a system subject to varying operating conditions, the number of controllers necessary to guarantee stable control under nominal-plant uncer...

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Bibliographic Details
Published in2023 European Control Conference (ECC) pp. 1 - 6
Main Authors Provan, Gregory, Sohege, Yves
Format Conference Proceeding
LanguageEnglish
Published EUCA 13.06.2023
Subjects
Adaptation models
Control systems
Rotors
Stability analysis
Switches
Uncertain systems
Uncertainty
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DOI10.23919/ECC57647.2023.10178350

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Summary:Multiple model adaptive control (MMAC) is an adaptive control method designed for plant parameter uncertainty given both linear and non-linear plant models. For a system subject to varying operating conditions, the number of controllers necessary to guarantee stable control under nominal-plant uncertainty, or under multiple operating conditions, are both unknown. We propose an automated convex hull (CH)-based controller synthesis approach that can guarantee stability of a system subject to varying operating conditions. We empirically validate this result for a quadcopter, which is subject to faults in rotors and sensors as well as to adverse wind conditions.
DOI:10.23919/ECC57647.2023.10178350