Observer-Based Control of Linear Complementarity Systems

Authors:
W. P. Heemels;M. K. Camlibel;B. Brogliato;J. M. Schumacher
Affiliations:
Eindhoven University of Technology, Eindhoven, The Netherlands 5600 MB;University of Groningen, Groningen, The Netherlands 9700 AV;INRIA, ZIRST Montbonnot, Saint Ismier, France 38334;Tilburg University, Tilburg, The Netherlands 5000 LE
Venue:
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
Year:
2008

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Abstract

In this paper, we will present observer and output-based controller design methods for linear complementarity systems (LCS) employing a passivity approach. Given various inherent properties of LCS, such as the presence of state jumps, mode dynamics described by DAEs, and regions ("invariants") for certain modes being lower dimensional, several proposed observers and controllers for other classes of hybrid dynamical systems do not apply. We will provide sufficient conditions for the observer design for a LCS, which is effective also in the presence of state jumps. Using the certainty equivalence approach we obtain output-based controllers for which we will derive a separation principle.