DECENTRALISED CONTROL WITH LOGICAL SUPERVISOR

CHALUPA, P.; BOBÁL, V.

Abstract

The paper deals with decentralised control as an approach of controlling multi input multi output systems (MIMO) with the same number of inputs as the number of outputs. A MIMO system is divided into single input single output (SISO) systems with internal interactions and each of these subsystems is controlled by an adaptive controller. In some cases, the simultaneous on-line identification performed by adaptive controllers can lead to instability. Then it is useful to allow just one of the adaptive controllers to perform on-line identification at a particular time. A supervisory block is added to a MIMO control circuit and is responsible for allowing on-line identification for each SISO adaptive controller. The logical supervisor is purposed to utilize and simplify the design of supervisory block. The idea of logical supervisor is based on the two principles: assigning priorities to individual subsystems and on-line evaluation of logical signal from each subsystem which determines whether the subsystem requests on-line identification. A comparison of control courses of the control systems with and without logical supervisor will be presented in the full paper. Both simulations and real-time laboratory experiments will be presented.

Coresponding author e-mail: chalupa[at]ft[dot]utb[dot]cz

Session: Linear and Non-linear Control System Design