Qualitative heterogeneous control of higher order systems

Subramanian Ramamoorthy, Benjamin Kuipers

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

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.
Original languageEnglish
Title of host publicationHybrid systems: Computation and control
Subtitle of host publication6th International Workshop, HSCC 2003 Prague, Czech Republic, April 3–5, 2003 Proceedings
PublisherSpringer Berlin Heidelberg
Number of pages18
ISBN (Electronic)978-3-540-36580-8
ISBN (Print)978-3-540-00913-9
Publication statusPublished - 2003

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Berlin Heidelberg
ISSN (Print)0302-9743


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