Departmental Papers (ESE)

Document Type

Conference Paper

Date of this Version

December 2001

Comments

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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Abstract

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.

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Date Posted: 04 August 2005