Module 10 p3 - Hybrid Dynamical Systems and Robust Feedback...

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Unformatted text preview: Hybrid Dynamical Systems and Robust Feedback Control Andrew R. Teel Center for Control, Dynamical Systems, and Computation University of California, Santa Barbara 47 th IEEE CDC, Cancun, Mexico, December 9th, 2008 x 1 x 2 Instantaneous change (jumps) Continuous change ( ows) Hybrid dynamical systems (HDS) combine continuous-time and discrete-time dynamics Continuous change and instantaneous change 2 x 1 x 2 Instantaneous change (jumps) Continuous change ( ows) Hybrid dynamical systems (HDS) combine continuous-time and discrete-time dynamics Continuous change and instantaneous change 2 Continuous values and discrete values physical variables timers logic states counters NETWORK PLANT DAC ADC Controller node Sensor node Actuator node HDS appear in nature and control 3 Legged locomotion Rabbit (Grizzle, LAG) Temperature control Newtons cradle Networks of impulsive biological oscillators Sample-and-hold control Hybrid automata (Lygeros,) Mechanical jugglers (Shannon, Koditschek, Sepulchre,) Networked control systems Guard( q, q ) = + Reset( q, q , ) + Reset( q , q, ) = Guard( q , q ) = f q ( ) Dom( q ) = f q ( ) Dom( q ) 4 Hybrid systems workshops, 91-present Haddad et al. 07 van der Schaft Schumacher, 00 Michel et al., 08 Matveev, Savkin00 Brogliato, 99 Leine, van de Wouw, 08 Liberzon, 03 Savkin, Evans02 Villani et al.07 Iordache, Antsaklis 06 Yang 01 Benchohra et al. 06 Miller, Rubinovich 03 Samoilenko, Perestyuk 95 Bohner, Peterson 01 Bainov, Simeonov 95 Lakshimkantham et al. 89 HDS have been studied extensively for over two decades 4 Hybrid systems workshops, 91-present Haddad et al. 07 van der Schaft Schumacher, 00 Michel et al., 08 Matveev, Savkin00 Brogliato, 99 Leine, van de Wouw, 08 Liberzon, 03 Savkin, Evans02 Villani et al.07 Iordache, Antsaklis 06 Yang 01 Benchohra et al. 06 Miller, Rubinovich 03 Samoilenko, Perestyuk 95 Bohner, Peterson 01 Bainov, Simeonov 95 Lakshimkantham et al. 89 HDS have been studied extensively for over two decades 4 Hybrid systems workshops, 91-present Haddad et al. 07 van der Schaft Schumacher, 00 Michel et al., 08 Matveev, Savkin00 Brogliato, 99 Leine, van de Wouw, 08 Liberzon, 03 Savkin, Evans02 Villani et al.07 Iordache, Antsaklis 06 Yang 01 Benchohra et al. 06 Miller, Rubinovich 03 Samoilenko, Perestyuk 95 Bohner, Peterson 01 Bainov, Simeonov 95 Lakshimkantham et al. 89 HDS have been studied extensively for over two decades 4 Hybrid systems workshops, 91-present Haddad et al. 07 van der Schaft Schumacher, 00 Michel et al., 08 Matveev, Savkin00 Brogliato, 99 Leine, van de Wouw, 08 Liberzon, 03 Savkin, Evans02 Villani et al.07 Iordache, Antsaklis 06 Yang 01 Benchohra et al. 06 Miller, Rubinovich 03 Samoilenko, Perestyuk 95...
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This note was uploaded on 05/06/2010 for the course ECE 514 taught by Professor Chaoukit.abdallah during the Spring '09 term at University of New Brunswick.

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Module 10 p3 - Hybrid Dynamical Systems and Robust Feedback...

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