A framework for hybrid control design

Author

Fierro, Rafael ; Lewis, Frank L.

Author_Institution

Autom. & Robotics Res. Inst., Texas Univ., Fort Worth, TX, USA

Volume

27

Issue

6

fYear

1997

fDate

11/1/1997 12:00:00 AM

Firstpage

765

Lastpage

773

Abstract

This paper presents a hybrid system framework which considers simultaneously the control and decision-making issues. This reconfigurable framework can accommodate a wide range of situations, from aircraft control systems to mobile manipulators. A continuous-state plant is supervised by a discrete-event system which is based on a theory of linked finite state machines. The composite system is viewed as an iterative process where a task is carried out by changing the structure of the continuous-state plant. An algorithm for a hybrid control design is provided and illustrated through a mobile manipulator example

Keywords

closed loop systems; continuous time systems; control system synthesis; discrete event systems; finite state machines; fuzzy logic; intelligent control; manipulators; mobile robots; position control; composite system; continuous-state plant; decision-making; discrete-event system; hybrid control design; iterative process; linked finite state machines; mobile manipulator; reconfigurable framework; Aerospace control; Automata; Automatic control; Control design; Control systems; Decision making; Discrete event systems; Real time systems; Robotics and automation; Robust stability;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on

Publisher

ieee

ISSN

1083-4427

Type

jour

DOI

10.1109/3468.634640

Filename

634640