Skip to main content
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
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.
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.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Citation Information
T. John Koo, George J Pappas and Shankar Sastry. "Multi-Modal Control of Systems with Constraints" (2001)
Available at: