A proposal of switching control system based on speculative control and its application to antiskid braking system

This paper presents a construction method of logic-based switching control system which operates in widely changing environments. The logic-based switching controller is composed of a family of candidate controllers together with a supervisor. The system does not require any identification schemes of environments. Switching from one candidate controller to another is carried out based on monitoring the output of the system. The basic ideas of adaptation are as follows: (1)each candidate controller is prepared for each environment in advance; (2)the supervisor applies a sequence of speculative controls to a plant with candidate controllers just after the control has started and just after the change of the environment has been detected. It is important that each candidate controller can keep the system stable during a sequence of speculative controls, and the most appropriate candidate controller for the environment to which the system is exposed can be selected before the last speculative control is ended. An application to an antiskid braking system clarifies the effectiveness of the proposed method.