One-day Workshop: Tuesday T-3

ROBUST HYBRID CONTROL SYSTEMS

Andrew R. Teel, University of California Santa Barbara
Rafal Goebel, University of California Santa Barbara
Ricardo G. Sanfelice, Massachusetts Institute of Technology

8:30am - 5:00pm
St Helens

Abstract
Hybrid control systems arise when controlling nonlinear systems with hybrid control algorithms - algorithms that involve logic variables, timers, computer program, and in general, states experiencing jumps at certain events - and also when controlling systems that are themselves hybrid. Recent technological advances allowing for and utilizing the interplay between digital systems with the analog world (e.g., embedded computers, sensor networks, etc.) have in- creased the demand for a theory applicable to the resulting systems, which are of hybrid nature, and for design techniques that may guarantee, through hybrid control, performance, safety, and recovery specifications even in the presence of uncertainty. In the workshop, we will present recent advances in the theory and design of hybrid control systems, with focus on robustness properties. The workshop will have four modules. The first module will present a general modeling framework for hybrid systems and relevant modern mathematical tools. The second module will introduce asymptotic stability and its robustness, and describe systematic tools like Lyapunov functions and invariance principles. The third module will display the power of hybrid control for (robust) stabilization of general nonlinear systems, with applications including control of robotic manipulators and autonomous vehicles. The last module will present stabilization techniques for systems that are themselves hybrid, featuring biological systems and juggling systems.