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Control of Multiple Model Systems


Murphey, Todd David (2002) Control of Multiple Model Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/17Q7-Y019.


This thesis considers the control of multiple model systems. These are systems for which only one model out of some finite set of models gives the system dynamics at any given time. In particular, the model that gives the system dynamics can change over time. This thesis covers some of the theoretical aspects of these systems, including controllability and stabilizability. As an application, ``overconstrained' mechanical systems are modeled as multiple model systems. Examples of such systems include distributed manipulation problems such as microelectromechanical systems and many wheeled vehicles such as the Sojourner vehicle of the Mars Pathfinder mission. Such systems are typified by having more Pfaffian constraints than degrees of freedom. Conventional classical motion planning and control theories do not directly apply to overconstrained systems. Control issues for two examples are specifically addressed. The first example is distributed manipulation. Distributed manipulation systems control an object's motion through contact with a high number of actuators. Stability results are shown for such systems and control schemes based on these results are implemented on a distributed manipulation test-bed. The second example is that of overconstrained vehicles, of which the Mars rover is an example. The nonlinear controllability test for multiple model systems is used to answer whether a kinematic model of the rover is or is not controllable.

Item Type:Thesis (Dissertation (Ph.D.))
Subject Keywords:control; distributed manipulation; friction; multiple model; nonsmooth
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Control and Dynamical Systems
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Burdick, Joel Wakeman (advisor)
  • Murray, Richard M. (co-advisor)
Thesis Committee:
  • Burdick, Joel Wakeman (chair)
  • Antonsson, Erik K.
  • Marsden, Jerrold E.
  • Perona, Pietro
  • Murray, Richard M.
Defense Date:2 May 2002
Record Number:CaltechETD:etd-07312002-091923
Persistent URL:
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:2989
Deposited By: Imported from ETD-db
Deposited On:01 Aug 2002
Last Modified:18 Aug 2022 23:46

Thesis Files

PDF (thesis.pdf) - Final Version
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