Logic-Based Distributed Switching Control for Agents in Power-Chained Form with Multiple Unknown Control Directions

Reference

M. Lv, B. De Schutter, C. Shi, and S. Baldi, "Logic-based distributed switching control for agents in power-chained form with multiple unknown control directions," Automatica, vol. 137, p. 110143, Mar. 2022.

Abstract

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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BibTeX

@article{LvDeS:22-013,
   author  = {Lv, Maolong and De Schutter, Bart and Shi, Chao and Baldi,
              Simone},
   title   = {Logic-Based Distributed Switching Control for Agents in
              Power-Chained Form with Multiple Unknown Control Directions},
   journal = {Automatica},
   volume  = {137},
   pages   = {110143},
   month   = mar,
   year    = {2022}
   }

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