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Multi-Modal Control of Systems with Constraints
Departmental Papers (ESE)
  • T. John Koo, University of California, Berkeley
  • George J Pappas, University of Pennsylvania
  • Shankar Sastry, University of California, Berkeley
Document Type
Conference Paper
Date of this Version
Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 3, pages 2075-2080.

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In multi-modal control paradigm, a set of controllers of satisfactory performance have already been designed and must be used. Each controller may be designed for a different set of outputs in order to meet the given performance objectives and system constraints. 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 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 robot manipulator example, where we determine the mode switching logic that achieves the given reachability task.

Citation Information
T. John Koo, George J Pappas and Shankar Sastry. "Multi-Modal Control of Systems with Constraints" (2001)
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