Towards cooperative sequential composition control

Esmaeil Najafi; G.A. Delgado Lopes

doi:10.1109/CDC.2016.7798995

Towards cooperative sequential composition control

Esmaeil Najafi, G.A. Delgado Lopes

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

12 Citations (Scopus)

Abstract

Sequential composition is a supervisory control architecture for addressing control problems in complex dynamical systems. Although sequential composition works properly for a single system, it is not designed for cooperative systems. This paper extends the standard sequential composition by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control. Given two or more systems, cooperation is achieved by composing each of the systems' control automaton, together with estimation for the domains of attraction of the resulting composed controllers. This typically results in new events for the original sequential composition controllers. Applying these events, the cooperative control system can fulfill the tasks which are not possible to satisfy with the original controllers individually. The simulation results of an inverted pendulum system collaborating with two second-order DC motors are presented for cooperative swing-up maneuvers.

Original language	English
Title of host publication	Proceedings 2016 IEEE 55th Conference on Decision and Control (CDC)
Editors	Francesco Bullo, Christophe Prieur, Alessandro Giua
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	4758-4763
ISBN (Electronic)	978-1-5090-1837-6
DOIs	https://doi.org/10.1109/CDC.2016.7798995
Publication status	Published - 2016
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Abbreviated title	CDC 2016
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16

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10.1109/CDC.2016.7798995

Cite this

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title = "Towards cooperative sequential composition control",

abstract = "Sequential composition is a supervisory control architecture for addressing control problems in complex dynamical systems. Although sequential composition works properly for a single system, it is not designed for cooperative systems. This paper extends the standard sequential composition by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control. Given two or more systems, cooperation is achieved by composing each of the systems' control automaton, together with estimation for the domains of attraction of the resulting composed controllers. This typically results in new events for the original sequential composition controllers. Applying these events, the cooperative control system can fulfill the tasks which are not possible to satisfy with the original controllers individually. The simulation results of an inverted pendulum system collaborating with two second-order DC motors are presented for cooperative swing-up maneuvers.",

author = "Esmaeil Najafi and {Delgado Lopes}, G.A.",

year = "2016",

doi = "10.1109/CDC.2016.7798995",

language = "English",

pages = "4758--4763",

editor = "Francesco Bullo and Christophe Prieur and Alessandro Giua",

booktitle = "Proceedings 2016 IEEE 55th Conference on Decision and Control (CDC)",

publisher = "IEEE",

address = "United States",

note = "55th IEEE Conference on Decision and Control, CDC 2016, CDC 2016 ; Conference date: 12-12-2016 Through 14-12-2016",

}

Towards cooperative sequential composition control. / Najafi, Esmaeil; Delgado Lopes, G.A.
Proceedings 2016 IEEE 55th Conference on Decision and Control (CDC) . ed. / Francesco Bullo; Christophe Prieur; Alessandro Giua. Piscataway, NJ, USA: IEEE, 2016. p. 4758-4763.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - Sequential composition is a supervisory control architecture for addressing control problems in complex dynamical systems. Although sequential composition works properly for a single system, it is not designed for cooperative systems. This paper extends the standard sequential composition by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control. Given two or more systems, cooperation is achieved by composing each of the systems' control automaton, together with estimation for the domains of attraction of the resulting composed controllers. This typically results in new events for the original sequential composition controllers. Applying these events, the cooperative control system can fulfill the tasks which are not possible to satisfy with the original controllers individually. The simulation results of an inverted pendulum system collaborating with two second-order DC motors are presented for cooperative swing-up maneuvers.

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Towards cooperative sequential composition control

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