Visible to the public Decentralized Control with Moving-Horizon Linear Switched Systems: Synthesis and Testbed ImplementationConflict Detection Enabled

TitleDecentralized Control with Moving-Horizon Linear Switched Systems: Synthesis and Testbed Implementation
Publication TypeConference Paper
Year of Publication2017
AuthorsJoao Jansch Porto, Geir Dullerud, University of Illinois at Urbana-Champaign
Conference NameAmerican Control Conference 2017
Conference LocationSeattle, WA
Keywordsscience 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 Keynode-36597