New Supervisory Control using Control-relevant Switching

Authors:	Yoon Tae-Woong, Korea University, Korea, Republic of Kim Jung-Su, Seoul National University, Korea, Republic of
Topic:	1.2 Adaptive and Learning Systems
Session:	Switching and Multiple Model Approaches to Adaptation
Keywords:	supervisory control, iISS Lyapunov function, dwell-time switching

Abstract

This paper presents a new supervisory control scheme, which is based ona control-relevant switching logic. Unlike most of the existingswitching methods considering only estimator performance, the proposedscheme takes both estimator and controller performance into account. Asan index to the controller performance, an iISS(integral-Input-to-State Stability) Lyapunov function is employed; itis ensured that the Lyapunov function satisfies a certain inequality.This Lyapunov-based switching is then coupled to the state-dependentdwell-time switching developed recently, and the state of the uncertainplant is shown to converge asymptotically.