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Observer-Based Control of Linear Complementarity Systems

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Hybrid Systems: Computation and Control (HSCC 2008)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4981))

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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.

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Author information

Authors and Affiliations

  1. Eindhoven University of Technology, P.O. Box 513, 5600 MB, Eindhoven, The Netherlands

    W. P. M. H. Heemels

  2. University of Groningen, P.O. Box 800, 9700 AV, Groningen, The Netherlands

    M. K. Camlibel

  3. INRIA, ZIRST Montbonnot, 655 avenue de l’Europe, 38334, Saint Ismier, France

    B. Brogliato

  4. Tilburg University, P.O. Box 90153, 5000 LE, Tilburg, The Netherlands

    J. M. Schumacher

Authors
  1. W. P. M. H. Heemels
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  2. M. K. Camlibel
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  3. B. Brogliato
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  4. J. M. Schumacher
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Editor information

Magnus Egerstedt Bud Mishra

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© 2008 Springer-Verlag Berlin Heidelberg

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Heemels, W.P.M.H., Camlibel, M.K., Brogliato, B., Schumacher, J.M. (2008). Observer-Based Control of Linear Complementarity Systems. In: Egerstedt, M., Mishra, B. (eds) Hybrid Systems: Computation and Control. HSCC 2008. Lecture Notes in Computer Science, vol 4981. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78929-1_19

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  • DOI: https://doi.org/10.1007/978-3-540-78929-1_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-78928-4

  • Online ISBN: 978-3-540-78929-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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