Coordinación de sistemas con diferentes dinámicas utilizando conceptos de invarianza geométrica y modos deslizantes.
| Title | Coordinación de sistemas con diferentes dinámicas utilizando conceptos de invarianza geométrica y modos deslizantes. |
| Publication Type | Journal Article |
| Year of Publication | 2013 |
| Authors | Vignoni A, Garelli F, Picó J |
| Journal | Revista Iberoamericana de Automática e Informática industrial |
| Volume | 10 |
| Start Page | 390 |
| Issue | 4 |
| Pagination | 390-401 |
| Abstract |
Among the possible meanings of the word, this paper will discuss coordinated action to refer to the act on
references of systems to achieve some collective behavior
desired but considering the constraints and capabilities of each system.
To this end, we develop a new methodology based on conditioning techniques
reference using geometric invariance sets and sliding mode control.
From a general framework, we propose two approaches:
a global centralized one and a local through interactions between different systems.
The approach addresses the problem
of coordinating dynamical systems with possibly different dynamics
(e.g. linear and nonlinear, different orders, constraints,
etc.).The main idea is to shape the systems local feasible references
in order to keep them coordinated.To show the applicability of the approach, the problem
of coordinating different dynamical systems with
control saturations is addressed as a particular case with both global and local configuration.
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