Reconfigurable systems are intelligent systems that embody logic-based adaptive mechanisms. These mechanisms allow systems to self-reconfigure in response to changes in the operating environment, thereby achieving high modularity and scalability. The challenge lies in overcoming typical problems in standard continuous adaptation, such as potentially large learning transients, possibly slow adaptation and convergence times. Unlike standard continuous adaptation, our goal is to use a hybrid controller to control uncertain systems, which combines continuous dynamics with discrete logic (e.g., multiple models) or smoothly interpolates (mixes) between different logics.

Representative Topics

• Supervised switching control
• Adaptive control with switching and tuning
• Adaptive hybrid control
• Adaptive control of switched/hybrid systems

Representative Applications

• Fault-tolerant control, resilient systems
• Reconfigurable robotics
• Reconfigurable manufacturing systems
• Reconfigurable computing

Representative Achievements

• Roy S., Baldi S., and Ioannou P. A., “An adaptive control framework for underactuated switched Euler-Lagrange systems”, IEEE Transactions on Automatic Control, 2021. doi:10.1109/TAC.2021.3108507
• Yuan S., De Schutter B., and Baldi S., “Adaptive asymptotic tracking control of uncertain time-driven switched linear systems”. IEEE Transactions on Automatic Control, Vol. 62(11), pp. 5802-5807, 2017. doi:10.1109/TAC.2016.2639479
• Baldi S. and Ioannou, P. A., “Stability margins in adaptive mixing control via a Lyapunov-based switching criterion”. IEEE Transactions on Automatic Control, Vol. 61(5), pp. 1194-1207, 2016. doi:1109/TAC.2015.2451520