A trajectory-based real-time controller synthesis with bumpless interconnection mechanism

Tushar Jain, Joseph Yamé

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

Abstract

The aims of this paper are two-folds. Firstly, we present a model-free algorithm for synthesizing an online controller. Secondly, this algorithm also addresses the issue of switching this controller in closed-loop with a bumpless mechanism. The novelty of this algorithm lies in the fact that we do not use any a priori knowledge of the model of the plant in realtime. We use the mathematical framework of behavioral system theory to demonstrate the online controller synthesis and its implementation mechanism.

Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherIEEE
Pages1817-1822
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - 2014
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Control, Automation, Robotics and Vision - Singapore, Singapore
Duration: 10 Jan 201412 Dec 2014
Conference number: 13

Publication series

NameInternational Conference on Control Automation Robotics and Vision
ISSN (Print)2474-2953

Conference

ConferenceInternational Conference on Control, Automation, Robotics and Vision
Abbreviated titleICARCV
CountrySingapore
CitySingapore
Period10/01/201412/12/2014

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