Hierarchically Consistent Control Systems
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General Robotics, Automation, Sensing and Perception Laboratory
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abstraction
consistency
controllability algorithms
hierarchical control
continuous time systems
controllability
hierarchical systems
large-scale systems
linear algebra
linear systems
consistency
continuous control systems
linear systems
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Large-scale control systems typically possess a hierarchical architecture in order to manage complexity. Higher levels of the hierarchy utilize coarser models of the system, resulting from aggregating the detailed lower level models. In this layered control paradigm, the notion of hierarchical consistency is important, as it ensures the implementation of high-level objectives by the lower level system. In this paper, we define a notion of modeling hierarchy for continuous control systems and obtain characterizations for hierarchically consistent linear systems with respect to controllability objectives. As an interesting byproduct, we obtain a hierarchical controllability criterion for linear systems from which we recover the best of the known controllability algorithms from numerical linear algebra.
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Copyright 2000 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 45, Issue 6, June 2000, pages 1144-1160. Publisher URL: http://dx.doi.org/10.1109/9.863598 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 pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.