控制理论(社会学)
停留时间
单调函数
李雅普诺夫函数
边界(拓扑)
功能(生物学)
数学
功率(物理)
控制(管理)
计算机科学
非线性系统
人工智能
临床心理学
医学
量子力学
进化生物学
生物
物理
数学分析
作者
Maolong Lv,Bart De Schutter,Chao Shi,Simone Baldi
出处
期刊:Automatica
[Elsevier]
日期:2022-03-01
卷期号:137: 110143-110143
被引量:42
标识
DOI:10.1016/j.automatica.2021.110143
摘要
This work studies logic-based distributed switching control for nonlinear agents in power-chained form, where logic-based (switching) control arises from the online estimation of the control directions assumed to be unknown for all agents. Compared to the state-of-the-art logic-based mechanisms, the challenge of power-chained dynamics is that in general asymptotic tracking cannot be obtained, even for a single agent. To address this challenge, a new logic-based mechanism is proposed, which is orchestrated by a dynamic boundary function. The boundary function is decreasing in-between switching instants and monotonically increasing at the switching instants, depending on the jumps of an appropriately designed Lyapunov-like function. To remove chattering (i.e. two or more switching instants occurring consecutively with zero dwell time), a dynamic threshold is proposed, based on selecting the maximum values of the Lyapunov-like function before and after switching.
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