Visible to the public Biblio

Filters: Author is Joao Jansch Porto  [Clear All Filters]
Conference Paper
Joao Jansch Porto, Geir Dullerud, University of Illinois at Urbana-Champaign.  2017.  Decentralized Control with Moving-Horizon Linear Switched Systems: Synthesis and Testbed Implementation. American Control Conference 2017.

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.