TY - GEN
T1 - Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
AU - Song, Zihao
AU - Kurtz, Vince
AU - Welikala, Shirantha
AU - Antsaklis, Panos J.
AU - Lin, Hai
N1 - Publisher Copyright:
© 2022 American Automatic Control Council.
PY - 2022
Y1 - 2022
N2 - Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control methods have poor scalability with respect to the number of modes and system dimensions and may not be robust to the disturbances in performance. In this paper, we present a robust approximate simulation based control method for PWA systems under bounded external disturbances. First, a lower-dimensional linear system (abstraction) and an associated interface are designed to enable the output of the PWA system (concrete system) to track the output of the abstraction. Then, a Lyapunov-like simulation function is designed to show the boundedness of the output errors between the two systems. Furthermore, the results obtained for linear abstraction are extended to the case that a simpler PWA system is the abstraction. To illustrate the effectiveness of the proposed approach, simulation results are provided for two design examples.
AB - Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control methods have poor scalability with respect to the number of modes and system dimensions and may not be robust to the disturbances in performance. In this paper, we present a robust approximate simulation based control method for PWA systems under bounded external disturbances. First, a lower-dimensional linear system (abstraction) and an associated interface are designed to enable the output of the PWA system (concrete system) to track the output of the abstraction. Then, a Lyapunov-like simulation function is designed to show the boundedness of the output errors between the two systems. Furthermore, the results obtained for linear abstraction are extended to the case that a simpler PWA system is the abstraction. To illustrate the effectiveness of the proposed approach, simulation results are provided for two design examples.
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U2 - 10.23919/ACC53348.2022.9867424
DO - 10.23919/ACC53348.2022.9867424
M3 - Conference contribution
AN - SCOPUS:85138491954
T3 - Proceedings of the American Control Conference
SP - 1543
EP - 1548
BT - 2022 American Control Conference, ACC 2022
T2 - 2022 American Control Conference, ACC 2022
Y2 - 8 June 2022 through 10 June 2022
ER -