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Analysis of Controlled Switching Dynamical Systems using Linear Impulsive Dynamical Systems and Invariant Sets

Endra Joelianto, Herman Y. Sutarto

Abstract


Switching controller for plants with changing modes is a complex problem. Many methods have been developed for this problem. In this paper, the switching controller is designed by using LMI method that will guarantee 2 H type cost. A mini scale helicopter is considered as an example due to its complex dynamic and changing modes operation. The paper specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. State jumps and mode changing of the controller responding to switched of plant dynamics are exploited and discussed. To analysis the dynamic of the controlled linear switching plants with switching controller, a hybrid system representation using linear impulsive differential equation is developed and an invariant set method is used to investigate the property of changing modes and controllers. The transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.645

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