Module5 PDF
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NurujjamanKhanModule5 PDF
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NurujjamanKhanControl of
Mobile Robots
Module 5
Dr. Magnus Egerstedt
Professor
School of Electrical and
Hybrid Systems
Computer Engineering
How make mobile robots move in effective, safe,
predictable, and collaborative ways using modern
control theory?
School of Electrical and Computer Engineering
Lecture 5.1 – Switches Everywhere
• So far, the models stay the same over time
- NOT ALWAYS TRUE!
• We have a designed one-size-fits-all controllers
- “NEVER” TRUE IN ROBOTICS!
• Recall the behavior-based control
paradigm
• We need to be able to deal with
these types of phenomena
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.1.1
Switches by Necessity
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
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5.1.2
Switches by Design
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
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5.1.3
Switches by Design
Magnus
Egerstedt,
Control
of
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Robots,
Georgia
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of
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5.1.4
Issues
• Models?
• Stability and Performance? (t �→ ∞)
• Compositionality?
• Traps?
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.1.5
Lecture 5.2 – Hybrid Automata
• We need to be able to describe systems that contain both the
continuous dynamics and the discrete switch logic
• Hybrid Automata = Finite state machines (discrete logic) on
steroids (continuous dynamics)
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.1
Modes, Transitions, Guards, and Resets
• Let, as before, the (continuous) state of the system be x
• As we will be switching between different modes of operation,
let’s add an additional discrete state q
• Dynamics:
ẋ = fq (x, u)
• The transitions between different discrete modes can be
encoded in a state machine:
q q�
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.2
Modes, Transitions, Guards, and Resets
• The conditions under which a transition occurs are called
guard conditions, i.e., a transition occurs from q to q’ if
x ∈ Gq,q�
• As a final component, we would like to allow for abrupt
changes in the continuous state as the transitions occur, which
we will call resets:
x := Rq,q� (x)
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.3
The Hybrid Automata Model
• Putting all of this together yields a very rich model known as a
hybrid automata (HA) model:
x := R1,2 (x)
x := x0 q=1 q=2
x ∈ G1,2
ẋ = f1 (x, u) ẋ = f2 (x, u)
x ∈ G2,1
x := R3,1 (x) x ∈ G2,3
x := R2,1 (x)
x ∈ G3,1 ẋ = f3 (x, u) x := R2,3 (x)
q=3
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.4
HA Example 1 - Thermostat
T ≥ Td + �
Ṫ = Fheat (T ) Ṫ = Fcool (T )
T ≤ Td − �
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.5
HA Example 2 – Gear Shift
v̇ = f1 (v, u)
RP M (v) ≥ c1
RP M (v) ≤ c�1 v̇ = f2 (v, u)
RP M (v) ≥ c2
RP M (v) ≤ c�2 v̇ = f3 (v, u)
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.6
HA Example 3 – Behaviors
�x − xO � ≤ d
ẋ = fGT G (x) ẋ = fAO (x)
�x − xO � ≥ d�
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.2.7
Lecture 5.3 – A Counter Example
• What can possibly go wrong when you start switching
between different controllers?
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.1
A Simple 2-Mode System
• Two modes:
� �
−� 1
ẋ = A1 x = x
−2 −�
� � eig(Ai ) = −� ± 1.41j
−� 2
ẋ = A2 x = x
−1 −�
• Both modes are asymptotically stable!
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.2
Mode 1
ẋ = A1 x
1
0.5
ï0.5
ï1
ï1.5
ï1.5 ï1 ï0.5 0 0.5 1 1.5 2
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.3
Mode 2
ẋ = A2 x
1
0.5
ï0.5
ï1
ï1.5 ï1 ï0.5 0 0.5 1 1.5
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.4
HA 1
� �
0 1 x=0
ẋ = A1 x ẋ = A2 x
� �
1 0 x=0
1
ASYMPTOTICALLY STABLE
0.8
0.6
0.4
0.2
ï0.2
ï0.4
ï0.6
ï0.8
ï1 ï0.5 0 0.5 1 1.5 2
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.5
HA 2
� �
1 0 x=0
ẋ = A1 x ẋ = A2 x
� �
0 1 x=0
50
UNSTABLE
0
ï50
ï100
ï150
ï250 ï200 ï150 ï100 ï50 0 50 100 150 200
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.6
Punchlines
• By combining stable modes, the resulting hybrid system may
be unstable!
• By combining unstable modes, the resulting hybrid system
may be stable!
• Design stable modes but be aware that this is a risk one may
face!
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.3.7
Lecture 5.4 – Danger, Beware!
• Stable subsystems do not guarantee a stable hybrid system
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.4.1
Switched Systems
• We saw last time that it was possible to destabilize stable
subsystems by an unfortunate series of switches
• Ignoring resets, we can write the hybrid system as a switched
system:
ẋ = fσ (x, u)
switch signal
• The switch signal dictates which discrete mode the system is
in
σ(t) ∈ Σ = {1, . . . , p}
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.4.2
Different Kinds of Stability
• Given a switched system ẋ = fσ (x)
– universal, asymptotic stability:
x → 0, ∀σ
– existential, asymptotic stability:
∃σ s.t. x → 0
• If the switch signal is generated by an underlying hybrid
automaton:
– hybrid, asymptotic stability:
x→0
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.4.3
Some Results
If all the individual modes are A.S., then
Existentially A.S.
• Why? Simply pick a mode and never switch!
Not always universally A.S.
• Why? See the counter example
• What to do? (common Lyapunov function)
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.4.4
Practically Speaking
• Design stabilizing controllers for the subsystems
• Design the switching logic in the HA
• (Find common Lyapunov function)
• Be aware of the potential danger here and test, test, test!
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.4.5
Lecture 5.5 – The Bouncing Ball
• Let’s model a ball bouncing on a surface:
• Equations of motion in-between bounces:
� � � �
0 1 0 � �
ḧ = −g ⇒ ẋ = x+ , y= 1 0 x
0 0 −g
• Bounces:
� �
1 0
ḣ := −γ ḣ ⇒ x := x
0 −γ
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.5.1
The Ball HA
x∈G
Guards?
ẋ = Ax + b � �
h≤0 ⇒ 1 0 x≤0
x := Rx h ≤ 0 and ḣ ≤ 0 ⇒ x ≤ 0
� � � �
0 1 0
A= , b=
0 0 −g
� �
1 0
R=
0 −γ
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.5.2
The Ball HA
x∈G
ẋ = Ax + b
x := Rx
• Is this any good?
• To answer that we need to figure out how the
system actually behaves!
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.5.3
Solving for the Output
� � � �
0 1 0 � �
ḧ = −g ⇒ ẋ = x+ , y= 1 0 x
0 0 −g
� t
y = CΦ(t, t0 )x(t0 ) + C Φ(t, τ )Bu(τ )dτ
t0
Φ(t, τ ) = eA(t−τ )
A2 = A3 = . . . = 0
�∞ k � �
At At 1 t
e = = I + At + 0 =
k! 0 1
k=0
Magnus
Egerstedt,
Control
of
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Robots,
Georgia
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of
Technology
5.5.4
Solving for the Output
� � � �
0 1 0 � �
ḧ = −g ⇒ ẋ = x+ , y= 1 0 x
0 0 −g
� t
y = CΦ(t, t0 )x(t0 ) + C Φ(t, τ )Bu(τ )dτ
t0
� �� �
� � 1 t − t0 h0
y= 1 0
0 1 ḣ0
� � �� �
� � t 1 t−τ 0
+ 1 0 dτ
t0 0 1 −g
g
= h0 + ḣ0 (t − t0 ) − (t − t0 )2
2
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.5.4
Time In-Between Bounces?
g
y = h0 + ḣ0 (t − t0 ) − (t − t0 )2
2
h0 = 0, t0 = 0
g 2
y(T ) = 0 = ḣ0 T − T = T (ḣ0 − g/2T )
2
2ḣ0
T = 0, T =
g
Magnus
Egerstedt,
Control
of
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Robots,
Georgia
Ins<tute
of
Technology
5.5.5
Accumulated Bounce Times
2ḣ0
T = (time in-between bounces)
velocity at the beginning
g
time of first bounce
ḣ0,0 = v 2v time of second bounce
velocity after first bounce T1 = 2v 2v
g T2 = +γ
ḣ0,1 = γv g g
.. N −1
. 2v � 2v 1
k
TN = γ →
ḣ0,k = γ k v g g 1−γ
k=0
γ<1
Magnus
Egerstedt,
Control
of
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Robots,
Georgia
Ins<tute
of
Technology
5.5.6
So What?
2v 1
T∞ = <∞
g 1−γ
• The ball bounces an infinite number of times in finite time.
• More than just a mathematical curiosity
– Simulations crash!
– Hybrid system is undefined beyond this time!
• This is known as the Zeno Phenomenon – next lecture
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.5.7
Lecture 5.6 – The Zeno Phenomenon
• Problem with the bouncing ball: Infinitely many switches in
finite time
• This is bad:
– Simulations crash
– Model is not accurate
– System behavior fundamentally ill-defined beyond “Zeno
point”
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.1
The Zeno Phenomenon
The hare
The tortoise
Zeno of Elea: 490 BC-430 BC
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.2
The Zeno Phenomenon
Zeno of Elea: 490 BC-430 BC
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.2
The Zeno Phenomenon
Zeno of Elea: 490 BC-430 BC
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.2
The Zeno Phenomenon
Zeno of Elea: 490 BC-430 BC
The Paradox: The hare never catches up with the tortoise
The Solution: Convergent series
The Problem: Infinitely many switches in finite time
Magnus
Egerstedt,
Control
of
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Robots,
Georgia
Ins<tute
of
Technology
5.6.2
Example
�
−1 x≥0
ẋ =
+1 x<0
ẋ = −1
x≥0 x<0
ẋ = +1
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.3
Super-Zeno?
� • This system switches infinitely
−1 x≥0
ẋ = many times in a single time-
+1 x<0
instant
• Zeno: Infinitely many switches in
ẋ = −1 finite time
– Type 1: In a single time-
x≥0 x<0 instant
– Type 2: Not Type 1 (bouncing
ẋ = +1
ball)
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.4
Good News and Bad News
• Zeno is a problem
• Type 1 is not only detectable, but one can deal with it in a
rather straightforward manner
• Type 2 is overall hard to handle!
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.6.5
Lecture 5.7 – Sliding Mode Control
ẋ = −1
x≥0 x<0
ẋ = +1
• It is clear what should happen!
• How do we make that mathematically sound?
• Sliding Mode Control
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.7.1
Switching Surfaces
switching surface
ẋ = f1 (x)
g(x) ≥ 0 g(x) < 0 g(x) > 0
ẋ = f2 (x) g(x) = 0
g(x) < 0
• Both vector fields point “inwards” = bad!
• We should keep sliding along the switching surface
• Sliding Mode Control
Magnus
Egerstedt,
Control
of
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Robots,
Georgia
Ins<tute
of
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5.7.2
Sliding?
∂g T
∂x f2
g(x) > 0
f1
g(x) = 0
Sliding occurs if g(x) < 0
∂g ∂g
f1 < 0 AND f2 > 0
∂x ∂x
derivative of g in direction f = Lf g = Lie derivative
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.7.3
Sliding?
∂g T
∂x f2
g(x) > 0
f1
g(x) = 0
g(x) < 0
Sliding occurs if
Lf1 g < 0 AND Lf2 g > 0
derivative of g in direction f = Lf g = Lie derivative
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.7.3
A Test For Type 1 Zeno
Sliding occurs if
Lf1 g < 0 AND Lf2 g > 0
• Next time: But what happens beyond the Zeno point?
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.7.4
Lecture 5.8 – Regularizations
f2
ẋ = f1 (x)
g(x) ≥ 0 g(x) < 0 g(x) > 0
f1
ẋ = f2 (x) g(x) = 0
g(x) < 0
Sliding occurs if
Lf1 g < 0 AND Lf2 g > 0
• How do we move beyond the Zeno point?
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.8.1
The Sliding “Mode”
f2 dg
=0
dt
f1
g=0
dg ∂g ∂g
= ẋ = (σ1 f1 + σ2 f2 ) = σ1 Lf1 g + σ2 Lf2 g
dt ∂x ∂x
L f1 g
= 0 ⇒ σ2 = −σ1
L f2 g
σ1 , σ2 ≥ 0, σ1 + σ2 = 1
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.8.2
Back to the Example
�
−1 x≥0 g(x) = x = 0
ẋ =
+1 x<0
∂g The Induced Mode
L f1 g = f1 = 1(−1) = −1
∂x ẋ = 0.5f1 + 0.5f2 = 0
∂g
L f1 g = f2 = 1 · 1 = 1
∂x
L f1 g −1
σ2 = −σ1 = −σ1 = σ1
L f2 g 1
σ1 = σ2 = 0.5
Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology
5.8.3
The Induced Mode
� �
L f1 g Lf1 g
σ2 = −σ1 σ1 + σ2 = σ1 1 − =1
L f2 g Lf2 g
1 L f2 g
σ1 = Lf1 g
=
1 − Lf g L f2 g − L f1 g
2
L f1 g
σ2 = −
L f2 g − L f1 g
1 � �
ẋ = Lf2 gf1 − Lf1 gf2
L f2 g − L f1 g
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.8.4
Regularizations of Type 1 Zeno HA
ẋ = f1 (x)
g(x) > 0 g(x) < 0
ẋ = f2 (x)
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.8.5
Regularizations of Type 1 Zeno HA
g = 0 and Lf1 g < 0 and Lf2 g > 0
ẋ = f1 (x)
g>0 � �
1
g>0 g<0 ẋ = Lf2 gf1 − Lf1 gf2
L f2 g − L f1 g
g<0
ẋ = f2 (x) g = 0 and Lf1 g < 0 and Lf2 g > 0
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.8.5
Hybrid Systems: In Summary
• We have
– Models
– Stability Awareness
– Zeno
– Regularizations
• Next Module: Back to ROBOTICS!
Magnus
Egerstedt,
Control
of
Mobile
Robots,
Georgia
Ins<tute
of
Technology
5.8.6
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