|Optimal Controller Switching for Resource-constrained Dynamical Systems
Kooktae Lee* and Raktim Bhattacharya
International Journal of Control, Automation, and Systems, vol. 16, no. 3, pp.1323-1331, 2018
Abstract : "In this paper, we present the resource-optimal controller switching synthesis for dynamical systems
subject to resource constraints. Particularly, for systems having limited computational power (CPU) and onboard
energy (battery), it is crucial to keep resource usage as low as possible. Although restrictions on resource utilization
may save a CPU time and battery life, it degrades system performance. This paper provides three distinct algorithms
that synthesize a controller switching policy for the purpose of resource savings, while not debasing system
performance significantly. To measure system performance, we adopted the Waserstein distance that quantifies
uncertainty in a probability density function level. The cost function to minimize is then defined based on this
Wasserstein metric with a resource utilization penalty. As an example, quadrotor dynamics with two controllers,
high performing / high resource consuming and moderate performing / resource saving controllers, is presented.
The efficiency and usefulness of the proposed methods are validated in this example."
Optimal controller switching, resource-constrained system, switched system, Wasserstein distance.