Towards cooperative sequential composition control

Esmaeil Najafi, G.A. Delgado Lopes

    Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

    6 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 languageEnglish
    Title of host publicationProceedings 2016 IEEE 55th Conference on Decision and Control (CDC)
    EditorsFrancesco Bullo, Christophe Prieur, Alessandro Giua
    Place of PublicationPiscataway, NJ, USA
    PublisherIEEE
    Pages4758-4763
    ISBN (Electronic)978-1-5090-1837-6
    DOIs
    Publication statusPublished - 2016
    Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
    Duration: 12 Dec 201614 Dec 2016

    Conference

    Conference55th IEEE Conference on Decision and Control, CDC 2016
    Abbreviated titleCDC 2016
    CountryUnited States
    CityLas Vegas
    Period12/12/1614/12/16

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