A framework for hybrid control design

Authors:
R. Fierro;F. L. Lewis
Affiliations:
Autom. & Robotics Res. Inst., Texas Univ., Fort Worth, TX;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Year:
1997

Citing 0
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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