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Automata-Switched Systems

Automata-Switched Systems. Geir E. Dullerud University of Illinois legend.me.uiuc.edu/dullerud ARTIST2 May 31, 2007. System Performance. Data-based systems: “good average behavior” ski slopes: least congested runs data networks: CNN Cyber-physical systems: “good behavior w.p. 1 ”

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Automata-Switched Systems

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  1. Automata-Switched Systems Geir E. Dullerud University of Illinois legend.me.uiuc.edu/dullerud ARTIST2 May 31, 2007

  2. System Performance • Data-based systems: “good average behavior” • ski slopes: least congested runs • data networks: CNN • Cyber-physical systems: “good behavior w.p. 1” • cars on the highway • medical systems

  3. autonomous vehicles robotics General application domain Motivation:

  4. HoTDeC Overview

  5. Hovercraft system

  6. Vehicles: Onboard computing and control

  7. Subsystems and interconnections

  8. Movie 2: Multiple hovercraft figure 8 (applet)

  9. System latency: Wireline links

  10. System latency: Wireless link

  11. autonomous vehicles fulfillment system Example: Kiva Systems Motivation: Video courtesy Raffaello D’Andrea, Kiva Systems

  12. UAVs Teams Cooperative vehicle teams: • Military: targets, refueling, safe-zones; symmetric • Civilian: security, firefighting, distributed robotics

  13. automaton #1 automaton #2 Design for nonlinear hybrid systems • information topology • discrete and continuous states • random latencies latencies Model features: automaton #3 General framework

  14. System Performance • Data-based systems: “good average behavior” • ski slopes: least congested runs • data networks: CNN • Cyber-physical systems: “good behavior w.p. 1” • cars on the highway • medical systems

  15. 1 2 Hybrid systems: Switched linear Nonlinear hybrid system Switched linear system automaton automaton 1 2 J-W. Lee and G.E. Dullerud, ``Uniform stabilization of discrete-time switched and Markovian jump linear system'', Automatica, 2006.

  16. 1 2 Random latency: Markovian jump linear systems Networked loop MJLS nominal system Markov process measurement latency controller J-W. Lee and G.E. Dullerud, ``Optimal Disturbance Attenuationfor Discrete-Time Switched and Markovian Jump Linear Systems,“ to appear SIAM Journal of Control and Optimization, 2006.

  17. Discrete linear inclusions: Stability

  18. Previous work

  19. Uniform exponential stability

  20. Operator Lyapunov equation

  21. M-path Lyapunov function

  22. Switched systems: Stability test

  23. Switched systems: Performance

  24. Summary • Switched linear systems and MJLS • HoTDeC

  25. Automata-Switched Systems Geir E. Dullerud University of Illinois legend.me.uiuc.edu/dullerud ARTIST2 May 31, 2007

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