HYBRID CONTROL FRAMEWORK for SYSTEMS with QUANTIZATION

1
HYBRID CONTROL FRAMEWORK forSYSTEMS with
QUANTIZATION
Daniel Liberzon
Coordinated Science Laboratory and Dept. of
Electrical Computer Eng., Univ. of Illinois at
Urbana-Champaign
CDC 01
2
(No Transcript)
3
REASONS for SWITCHING

• Nature of the control problem

• Sensor or actuator limitations

• Large modeling uncertainty

• Combinations of the above

4
QUANTIZED FEEDBACK
5
OBSTRUCTION to STABILIZATION
Assume fixed
Asymptotic stabilization is impossible
6
3. Coding and decoding
7
(No Transcript)
8
LINEAR SYSTEMS
is GAS
Assume
s.t.
9
SWITCHING POLICY
level sets of V
.
10
NONLINEAR SYSTEMS
is GAS
Assume
s.t.
11
EXTENSIONS and APPLICATIONS

• Arbitrary quantization regions

• Active probing for information

• Output and input quantization

• Relaxing the assumptions

• Application to visual servoing