Decentralized control of linear switched systems with receding horizon

In this thesis, we consider the decentralized switched control problem where exact conditions for controller synthesis are obtained via Linear Matrix Inequalities (LMIs). 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 MATLAB simulation. The decentralized controller is further tested with a real-world system comprised of two HoTDeC hovercrafts.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2016

Author dc:creator

• Jansch Porto, Joao Paulo

Contributors dc:contributor

• Dullerud, Geir E.

• H infinity control
• hybrid systems
• linear matrix inequalities
• switched systems
• decentralized control
• nested systems

Statement dc:rights

• Copyright 2016 Joao Paulo Jansch Porto

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/93074

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/93074