Abstract
The In this paper the problem of reconfiguration in hierarchical control of piecewise-affine systems in discrete time is considered as the choice of input constraints applied to the low-level control. It is shown how such reconfiguration can provide fault-tolerance to actuator faults while reducing the computational complexity of low-level control. The approach is based on partitioning the state space while taking into account multiple possibilities for the inputs available to low-level control. A so-called “reconfiguration database” is computed at design-time which determines the input constraints that provide for reachability between regions of a state-space partition. This database is used as a basis for reconfiguration decisions at runtime.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
M. Blanke, C. Frei, F. Kraus, R.J. Patton, and Staroswiecki M. What is Fault-tolerant Control.., Plenary address, In Proceedings of the IFAC Symposium SAFEPROCESS, Budapest, pages 40–51, 2000
E.D. Sontag. Interconnected automata and linear systems: A theoretical framework in discrete time. In Hybrid Systems III. Verification and Control, R. Alur, T.A. Henzinger and E.D. Sontag eds. Lecture Notes in Computer Science, Vol. 1066. Springer-Verlag, Pittsburgh, USA, (1996), 436–448
W.P.M.H. Heemels, B. De Schutter and A. Bemporad. Equivalence of Hybrid Dynamical Models, Automatica 37(7), July 2001
A. Bemporad and M. Morari. Control of systems integrating logic, dynamics, and constraints, Automatica, 35(3), March 1999
X.D. Koutsoukos and P.J. Antsaklis. Hierarchical Control of Piecewise Linear Hybrid Dynamical Systems Based on Discrete Abstractions, Interdisciplinary Studies of Intelligent Systems, Notre Dam University, Technical Report ISIS-2001-001, February 2001
K. Tsuda, D. Mignone, G. Ferrari-Trecate and M. Morari. Reconfiguration Strategies for Hybrid Systems. In Proceedings of the American Control Conference, Arlington Virginia, 2001
J. Lunze. Laboratory Three Tanks System Benchmark for the Reconfiguration Problem. Technical report, Tech. Univ.of Hamburg-Harburg, Inst. of Control. Eng., Germany, 1998.
D. Mignone., Moving Horizon Estimation and Fault Detection of Mixed Logic Dynamical Systems, Postdiploma Thesis, Automatic Control Laboratory, Swiss Federal Institute of Technology, Zurich, Switzerland, August 1999
E.C. Kerrigan. Robust Constraint Satisfaction: Invariant Sets and Predictive Control. PhD thesis, University of Cambridge, UK, November 2000.
E.C. Kerrigan and J.M. Maciejowski. Robust Feasibility in Model Predictive Control: Necessary and Sufficient Conditions. In Proceedings of the 40th Conference on Decision and Control, Orlando, Florida, USA, December 2001
E.C. Kerrigan, MATLAB Invariant Set Toolbox downloadable from http://www-control.eng.cam.ac.uk/eck21/.
J. Lunze, J. Askari-Maranani, A. Cela, P.M. Frank, A.L. Gehin, B. Heiming, M. Lemos, T. Marcu, L. Rato, M. Starosweicki. Three Tank Control Reconfiguration. In Control of Complex Systems. K. Åstrom et al (eds.) Springer, London, pp 241–283, 2001.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Pasternak, T. (2002). Reconfiguration in Hierarchical Control of Piecewise-Affine Systems. In: Tomlin, C.J., Greenstreet, M.R. (eds) Hybrid Systems: Computation and Control. HSCC 2002. Lecture Notes in Computer Science, vol 2289. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45873-5_29
Download citation
DOI: https://doi.org/10.1007/3-540-45873-5_29
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-43321-7
Online ISBN: 978-3-540-45873-9
eBook Packages: Springer Book Archive