Dynamical Systems Coordination Via Sliding Mode Reference Conditioning

TitleDynamical Systems Coordination Via Sliding Mode Reference Conditioning
Publication TypeConference Paper
Year of Publication2011
AuthorsVignoni A, Picó J, Garelli F, De Battista H
EditorSergio, Bittanti
Conference Name18th IFAC World Congress
Date Published08/2011
PublisherIFAC
Conference LocationUniversità Cattolica del Sacro Cuore, Milano, Italy
ISBN Number978-3-902661-93-7
KeywordsControl of constrained systems, Control of switched systems, Coordination, Switching stability and control
Abstract

A novel methodology is proposed for coordination of dynamical systems. The scheme is based on the sliding mode reference conditioning technique in a sort of supervisory level. The approach addresses the problem of coordinating dynamical systems with possible different dynamics (eg linear and nonlinear, different orders, constraints, etc). To achieve this, the dynamics of each subsystem are emph{hidden} from the coordination mechanism. The main idea is to shape the systems local references in order to keep them coordinated. This implies considering the global goals, the systems constraints and the achievable performances as well. Sliding Mode Reference Conditioning (SMRC) is used for this purpose by means of a hierarchical supervisory structure. To show the applicability of the approach, the problem of coordinating a number of different dynamical systems with control saturations is addressed as a particular case. Coordination will be understood as actuating on the systems references to achieve some emph{collective behavior} considering the individual restrictions of each system.

URLhttp://www.ifac-papersonline.net/Detailed/51115.html
DOI10.3182/20110828-6-IT-1002.02727
Refereed DesignationRefereed