Sliding mode reference coordination of constrained feedback systems

This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new metho...

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Detalles Bibliográficos
Autores principales: Vignoni, Alejandro, Garelli, Fabricio, Picó, Jesús
Formato: Articulo
Lenguaje:Inglés
Publicado: 2013
Materias:
Ingeniería
Dynamical systems
Multivariable systems
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/85384
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-85384
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ingeniería
Dynamical systems
Multivariable systems
spellingShingle Ingeniería
Dynamical systems
Multivariable systems
Vignoni, Alejandro
Garelli, Fabricio
Picó, Jesús
Sliding mode reference coordination of constrained feedback systems
topic_facet Ingeniería
Dynamical systems
Multivariable systems
description This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new methodology based on reference conditioning techniques using geometric set invariance and sliding mode control: the sliding mode reference coordination (SMRCoord). The main idea is to coordinate the systems references. Starting from a general framework, we propose two approaches: a local one through direct interactions between the different systems by sharing and conditioning their own references and a global centralized one, where a central node makes decisions using information coming from the systems references. In particular, in this work we focus in implementation on multivariable systems like unmanned aerial vehicles (UAVs) and robustness to external perturbations. To show the applicability of the approach, the problem of coordinating UAVs with input constraints is addressed as a particular case of multivariable reference coordination with both global and local configuration.
format Articulo
Articulo
author Vignoni, Alejandro
Garelli, Fabricio
Picó, Jesús
author_facet Vignoni, Alejandro
Garelli, Fabricio
Picó, Jesús
author_sort Vignoni, Alejandro
title Sliding mode reference coordination of constrained feedback systems
title_short Sliding mode reference coordination of constrained feedback systems
title_full Sliding mode reference coordination of constrained feedback systems
title_fullStr Sliding mode reference coordination of constrained feedback systems
title_full_unstemmed Sliding mode reference coordination of constrained feedback systems
title_sort sliding mode reference coordination of constrained feedback systems
publishDate 2013
url http://sedici.unlp.edu.ar/handle/10915/85384
work_keys_str_mv AT vignonialejandro slidingmodereferencecoordinationofconstrainedfeedbacksystems
AT garellifabricio slidingmodereferencecoordinationofconstrainedfeedbacksystems
AT picojesus slidingmodereferencecoordinationofconstrainedfeedbacksystems
bdutipo_str Repositorios
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