Robust Embedded Control using Randomized Switching Algorithms
2023 EUROPEAN CONTROL CONFERENCE, ECC(2023)
摘要
Multiple model adaptive control (MMAC) is an adaptive control method designed for plant parameter uncertainty given both linear and non-linear plant models. For a system subject to varying operating conditions, the number of controllers necessary to guarantee stable control under nominal-plant uncertainty, or under multiple operating conditions, are both unknown. We propose an automated convex hull (CH)-based controller synthesis approach that can guarantee stability of a system subject to varying operating conditions. We empirically validate this result for a quadcopter, which is subject to faults in rotors and sensors as well as to adverse wind conditions.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要