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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| Published in | 2023 European Control Conference (ECC) pp. 1 - 6 |
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| Main Authors | , |
| Format | Conference Proceeding |
| Language | English |
| Published |
EUCA
13.06.2023
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| Subjects | |
| Online Access | Get full text |
| DOI | 10.23919/ECC57647.2023.10178350 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Sohege, Yves Provan, Gregory |
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| SubjectTerms | Adaptation models Control systems Rotors Stability analysis Switches Uncertain systems Uncertainty |
| Title | Robust Embedded Control using Randomized Switching Algorithms |
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