S. Ramamoorthy and B. Kuipers. 2003.
Qualitative heterogeneous control of higher order systems.
In O. Maler and A. Pnueli (Eds.), Hybrid
Systems: Computation and Control, Lecture Notes in Computer
Science, Springer Verlag, 2003.
This paper presents the qualitative heterogeneous control framework, a
methodology for the design of a controlled hybrid system based on
attractors and transitions between them. This framework designs a
robust controller that can accommodate bounded amounts of parametric
and structural uncertainty. This framework provides a number of
advantages over other similar techniques. The local models used in the
design process are qualitative, allowing the use of partial knowledge
about system structure, and nonlinear, allowing regions and
transitions to be defined in terms of dynamical attractors. In
addition, we define boundaries between local models in a natural
manner, appealing to intrinsic properties of the system. We
demonstrate the use of this framework by designing a novel control
algorithm for the cart-pole system. In addition, we illustrate how
traditional algorithms, such as linear quadratic regulators, can be
incorporated within this framework. The design is validated by
experiments with a physical system.
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