Abstract
Switching controller for plants with changing modes is a complex problem. Many methods have been developed for this problem. The paper investigates a unified approach to the switching controller 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 dynamics of the controlled linear switching plants with switching controller, a hybrid system representation using linear impulsive differential equation is developed to investigate the property of changing modes of the controllers. In this paper, the switching controller is designed by using LMI method that will guarantee H 2-type cost. A mini scale helicopter is considered as an example due to its complex dynamic and changing modes operation between hover and cruise. The performance of the switching controller is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach.
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Joelianto, E., Sutarto, H.Y. (2009). Controlled Switching Dynamical Systems Using Linear Impulsive Differential Equations. In: Budiyono, A., Riyanto, B., Joelianto, E. (eds) Intelligent Unmanned Systems: Theory and Applications. Studies in Computational Intelligence, vol 192. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00264-9_15
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DOI: https://doi.org/10.1007/978-3-642-00264-9_15
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