Observer-based control of linear complementarity systems

W.P.M.H. Heemels, M.K. Camlibel, B. Brogliato, J.M. Schumacher

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

6 Citations (Scopus)

Abstract

In this paper, we will present observer and output-based controller design methods for linear complementarity systems (LCS) employing a passivity approach. Given various inherent properties of LCS, such as the presence of state jumps, mode dynamics described by DAEs, and regions ("invariants") for certain modes being lower dimensional, several proposed observers and controllers for other classes of hybrid dynamical systems do not apply. We will provide sufficient conditions for the observer design for a LCS, which is effective also in the presence of state jumps. Using the certainty equivalence approach we obtain output-based controllers for which we will derive a separation principle.
Original languageEnglish
Title of host publicationProceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA
EditorsM. Egerstedt, B. Mishra
Place of PublicationBerlin
PublisherSpringer
Pages259-272
DOIs
Publication statusPublished - 2008

Publication series

NameLecture Notes in Computer Science
Volume4981
ISSN (Print)0302-9743

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Linear systems
Controllers
Dynamical systems

Cite this

Heemels, W. P. M. H., Camlibel, M. K., Brogliato, B., & Schumacher, J. M. (2008). Observer-based control of linear complementarity systems. In M. Egerstedt, & B. Mishra (Eds.), Proceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA (pp. 259-272). (Lecture Notes in Computer Science; Vol. 4981). Berlin: Springer. https://doi.org/10.1007/978-3-540-78929-1_19
Heemels, W.P.M.H. ; Camlibel, M.K. ; Brogliato, B. ; Schumacher, J.M. / Observer-based control of linear complementarity systems. Proceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA. editor / M. Egerstedt ; B. Mishra. Berlin : Springer, 2008. pp. 259-272 (Lecture Notes in Computer Science).
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Heemels, WPMH, Camlibel, MK, Brogliato, B & Schumacher, JM 2008, Observer-based control of linear complementarity systems. in M Egerstedt & B Mishra (eds), Proceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA. Lecture Notes in Computer Science, vol. 4981, Springer, Berlin, pp. 259-272. https://doi.org/10.1007/978-3-540-78929-1_19

Observer-based control of linear complementarity systems. / Heemels, W.P.M.H.; Camlibel, M.K.; Brogliato, B.; Schumacher, J.M.

Proceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA. ed. / M. Egerstedt; B. Mishra. Berlin : Springer, 2008. p. 259-272 (Lecture Notes in Computer Science; Vol. 4981).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Heemels WPMH, Camlibel MK, Brogliato B, Schumacher JM. Observer-based control of linear complementarity systems. In Egerstedt M, Mishra B, editors, Proceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA. Berlin: Springer. 2008. p. 259-272. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-540-78929-1_19