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Continuous control of hybrid automata with imperfect mode information assuming separation between state estimation and control

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2 Author(s)
Verma, R. ; Syst. Lab., Univ. of Michigan, Ann Arbor, MI, USA ; Del Vecchio, D.

The safety control problem for hybrid automata with imperfect mode information and continuous control is addressed. When the controller does not have access to the mode of the system, available static feedback techniques cannot be applied. We propose a dynamic feedback strategy in which a mode estimator constructs the set of possible current system modes. A control map is designed that on the basis of the current mode estimates returns the set of all possible safe control inputs. This dynamic feedback map implicitly assumes separation between state estimation and control. Termination conditions are provided. The proposed control technique is applied to a semi-autonomous cooperative active safety system.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009