Abstract
In many control applications, a specific set of output tracking controllers of satisfactory performance have already been designed and must be used. When such a collection of control modes is available, an important problem is to be able to accomplish a variety of high level tasks by appropriately switching between the low-level control modes. In this paper, we define a concept of control modes, and propose a framework for determining the sequence of control modes that will satisfy reachability tasks. Our framework exploits the structure of output tracking controllers in order to extract a finite graph where the mode switching problem can be efficiently solved, and then implement it using the continuous controllers. Our approach is illustrated on a helicopter example, where we determine the mode switching logic that achieves the high-altitude takeoff task from a hover mode.
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Koo, T.J., Pappas, G.J., Sastry, S. (2001). Mode Switching Synthesis for Reachability Specifications. In: Di Benedetto, M.D., Sangiovanni-Vincentelli, A. (eds) Hybrid Systems: Computation and Control. HSCC 2001. Lecture Notes in Computer Science, vol 2034. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45351-2_28
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DOI: https://doi.org/10.1007/3-540-45351-2_28
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