Mode Switching Synthesis for Reachability Specifications

  • T. John Koo
  • George J. Pappas
  • Shankar Sastry
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2034)


In many control applications, a specific set of output tracking controllers of satisfactory performance have already been designed and must be used. When such a collection of control modes is available, an important problem is to be able to accomplish a variety of high level tasks by appropriately switching between the low-level control modes. In this paper, we define a concept of control modes, and propose a framework for determining the sequence of control modes that will satisfy reachability tasks. Our framework exploits the structure of output tracking controllers in order to extract a finite graph where the mode switching problem can be efficiently solved, and then implement it using the continuous controllers. Our approach is illustrated on a helicopter example, where we determine the mode switching logic that achieves the high-altitude takeoff task from a hover mode.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • T. John Koo
    • 1
    • 2
  • George J. Pappas
    • 1
  • Shankar Sastry
    • 2
  1. 1.Department of EEUniversity of PennsylvaniaPhiladelphia
  2. 2.Department of EECSUniversity of California at BerkeleyBerkeley

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