Abstract:

This paper discusses methodologies for designing limited lookahead supervisory controllers for a class of embed-ded systems that can be modeled as switching hybrid system (SHS). In the limited lookahead control approach, a limited forward horizon of possible behaviors is explored at each time step. The controller uses a cost function to determine the im-mediate action that will move the system toward the "best" state on the horizon. We discuss the controller design and im-plementation for a three-tank system test-bed with distributed sensor and actuation units. A set of real-time fault adaptive control experiments demonstrate the effectiveness of the ap-proach.

Download: WuEtal2005_CCA.pdf