Abstract
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.
| Original language | English (US) |
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| Title of host publication | 2017 American Control Conference, ACC 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 851-856 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059928 |
| DOIs | |
| State | Published - Jun 29 2017 |
| Externally published | Yes |
| Event | 2017 American Control Conference, ACC 2017 - Seattle, United States Duration: May 24 2017 → May 26 2017 |
Publication series
| Name | Proceedings of the American Control Conference |
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| ISSN (Print) | 0743-1619 |
Other
| Other | 2017 American Control Conference, ACC 2017 |
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| Country/Territory | United States |
| City | Seattle |
| Period | 5/24/17 → 5/26/17 |
Bibliographical note
Publisher Copyright:© 2017 American Automatic Control Council (AACC).