TY - GEN
T1 - Switching rules for decentralized control with simple control laws
AU - Shucker, Brian
AU - Murphey, Todd
AU - Bennett, John K.
PY - 2007
Y1 - 2007
N2 - We introduce a novel method for enforcing stability on a decentralized control system. In contrast to previous work, our approach allows for the use of a wide variety of simple control laws, while still providing for a formal proof of stability. Our motivating example uses a simple geometric switching function coupled with PD control that has an intuitive interpretation as a virtual spring mesh. Building on this example, we show a general proof technique that applies to a large class of decentralized control systems. Furthermore, we describe additional cases that illustrate how our technique can be applied to useful systems that are straightforward to implement.
AB - We introduce a novel method for enforcing stability on a decentralized control system. In contrast to previous work, our approach allows for the use of a wide variety of simple control laws, while still providing for a formal proof of stability. Our motivating example uses a simple geometric switching function coupled with PD control that has an intuitive interpretation as a virtual spring mesh. Building on this example, we show a general proof technique that applies to a large class of decentralized control systems. Furthermore, we describe additional cases that illustrate how our technique can be applied to useful systems that are straightforward to implement.
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U2 - 10.1109/ACC.2007.4282736
DO - 10.1109/ACC.2007.4282736
M3 - Conference contribution
AN - SCOPUS:46449094666
SN - 1424409888
SN - 9781424409884
T3 - Proceedings of the American Control Conference
SP - 1485
EP - 1492
BT - Proceedings of the 2007 American Control Conference, ACC
T2 - 2007 American Control Conference, ACC
Y2 - 9 July 2007 through 13 July 2007
ER -