Dynamical system coordination via sliding mode reference

ALEJANDRO VIGNONI; JESÚS PICO; FABRICIO GARELLI; HERNÁN DE BATTISTA

MIlán

Congreso; 18th IFAC World Congress (International Federation of Automatic Control); 2011

International Federation of Automatic Control (IFAC)

In this paper 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 supervisorylevel. The approach addresses the problem of coordinating dynamical systems with possiblycompletely different dynamics (e.g. linear and nonlinear, different orders, constraints. . . ). Toachieve this, the dynamics of each subsystem are hidden from the coordination mechanism.The main idea behind being that coordinating systems is equivalent to coordinate their localset-points as a function of the global goals and the achievable performance of each local system.Sliding Mode Reference Conditioning (SMRC) is used for this purpose by means of a hierarchical supervisory SMRC structure.To show the applicability of the approach, the problem of coordinating a number of differentdynamical systems with control saturations is addressed as a particular case. Coordination inthe example shown is understood in the sense of the systems being able to track local feasiblereference signals so that no one deviates from the group average more than a given bound.