Observer-Based Control of Linear Complementarity Systems

Maurice P. M. H. Heemels (1) , Kanat K. Camlibel (2) , Bernard Brogliato (3) , Hans Schumacher (4)

1 TU/e - Eindhoven University of Technology [Eindhoven]
2 University of Groningen [Groningen]
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
4 Tilburg University [Netherlands]

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.

Domaines: Mécanique des structures [physics.class-ph]

Maurice P. M. H. Heemels, Kanat K. Camlibel, Bernard Brogliato, Hans Schumacher. Observer-Based Control of Linear Complementarity Systems. 11th International Workshop on Hybrid Systems: Computation and Control (HSCC 2008), Apr 2008, St-Louis, United States. pp.259-272, ⟨10.1007/978-3-540-78929-1_19⟩. ⟨hal-00834580v2⟩