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Optimal Controller Switching for Resource-constrained Dynamical Systems

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Abstract

In this paper, we present the resource-optimal controller switching synthesis for dynamical systems subject to resource constraints. Particularly, for systems having limited computational power (CPU) and onboard energy (battery), it is crucial to keep resource usage as low as possible. Although restrictions on resource utilization may save a CPU time and battery life, it degrades system performance. This paper provides three distinct algorithms that synthesize a controller switching policy for the purpose of resource savings, while not debasing system performance significantly. To measure system performance, we adopted the Waserstein distance that quantifies uncertainty in a probability density function level. The cost function to minimize is then defined based on this Wasserstein metric with a resource utilization penalty. As an example, quadrotor dynamics with two controllers, high performing / high resource consuming and moderate performing / resource saving controllers, is presented. The efficiency and usefulness of the proposed methods are validated in this example.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, New Mexico Institute of Mining and Technology, Socorro, NM, 87801, USA

    Kooktae Lee

  2. Department of Aerospace Engineering, Texas A&M University, College Station, TX, 77843, USA

    Raktim Bhattacharya

Authors
  1. Kooktae Lee
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  2. Raktim Bhattacharya
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Corresponding author

Correspondence to Kooktae Lee.

Additional information

Recommended by Associate Editor Huanqing Wang under the direction of Editor Hamid Reza Karimi.

Kooktae Lee received his B.S. and M.S. degrees in Mechanical Engineering from Korea University, in 2006 and 2008, respectively. He received his Ph.D. degree in Aerospace Engineering from Texas A&M University in 2015 and continued his research as a postdoctoral research associate from 2015 to 2016. He was a postdoctoral scholar in the Department of Mechanical & Aerospace Engineering at University of California San Diego from 2016 to 2017. He is currently an assistant professor in the Department of Mechanical Engineering at New Mexico Institute of Mining and Technology. His major research interests include uncertainty propagation/quantification, stochastic switched system, large-scale distributed networked control systems, asynchronous high-performance parallel computing algorithm, multi-objective optimization, and mobile robotics.

Raktim Bhattacharya received his M.S. and Ph.D. degrees in Aerospace Engineering from the University of Minnesota in 2000 and 2003 respectively. He was a postdoctoral researcher in Control & Dynamical Systems at Caltech from 2003 to 2004. He spent 2004–2005 at United Technologies Research Center, East Hartford, CT, as a research scientist in the Controls and Embedded Systems Group. He joined the Aerospace Engineering department at Texas A&M University in 2005, and is currently an associate professor. He has published several journal and conference papers and book chapters in the area of probabilistic robust control, nonlinear estimation, uncertainty quantification in hypersonic flight problems, nonlinear trajectory generation, anytime control algorithms, and receding horizon control methodologies.

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Lee, K., Bhattacharya, R. Optimal Controller Switching for Resource-constrained Dynamical Systems. Int. J. Control Autom. Syst. 16, 1323–1331 (2018). https://doi.org/10.1007/s12555-017-0530-3

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  • DOI: https://doi.org/10.1007/s12555-017-0530-3

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