Switching rules for decentralized control with simple control laws

Brian Shucker*, Todd Murphey, John K. Bennett

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages8
StatePublished - Dec 1 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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