Switching control design based on multi-observer for nonlinear systems

The purpose of the work presented in this paper is to design a multi-control scheme for nonlinear systems based on multi-observers and a switching procedure. The concept of the multi-control approach is to design N local linear controllers, each is designed to control the system in a specific operating area. The switcher selects one local controller. This selection is performed by a supervisor consists of a set of local observers. The switching algorithm is then based on the minimization of a quadratic criterion: the correction associated with the observer corresponding to the smallest value of the criterion is selected by the switcher and provides the control signal to the process. This control approach is applied to a Two Wheels inverted Pendulum Mobile Robot and the simulation results showed the effectiveness and the robustness of the control strategy in term of tracking and regulation.