Towards cooperative sequential composition control

Esmaeil Najafi, Gabriel A.D. Lopes

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

9 Citations (Scopus)


Sequential composition is a supervisory control architecture for addressing control problems in complex dynamical systems. Although sequential composition works properly for a single system, it is not designed for cooperative systems. This paper extends the standard sequential composition by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control. Given two or more systems, cooperation is achieved by composing each of the systems' control automaton, together with estimation for the domains of attraction of the resulting composed controllers. This typically results in new events for the original sequential composition controllers. Applying these events, the cooperative control system can fulfill the tasks which are not possible to satisfy with the original controllers individually. The simulation results of an inverted pendulum system collaborating with two second-order DC motors are presented for cooperative swing-up maneuvers.

Original languageEnglish
Title of host publication2016 IEEE 55th Conference on Decision and Control (CDC 2016), December 12-14, 2016. Las Vegas, USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509018376
ISBN (Print)978-1-5090-1837-6
Publication statusPublished - 27 Dec 2016
Event55th IEEE Conference on Decision and Control (CDC 2016) - Aria Resort and Casino, Las Vegas, United States
Duration: 12 Dec 201614 Dec 2016
Conference number: 55


Conference55th IEEE Conference on Decision and Control (CDC 2016)
Abbreviated titleCDC02016
Country/TerritoryUnited States
CityLas Vegas
Internet address


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