INVESTIGADORES
DE BATTISTA Hernan
congresos y reuniones científicas
Título:
Dynamical systems coordination via sliding mode reference conditioning
Autor/es:
VIGNONI, A.; PICÓ, J.; GARELLI, F.; DE BATTISTA, H.
Lugar:
Milano
Reunión:
Congreso; Triennial IFAC World Congress; 2011
Institución organizadora:
IFAC
Resumen:
A novel methodology is proposed for coordination of dynamical systems. The schemeis 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 di erent dynamics (e.g. linear and nonlinear, di erent orders, constraints, etc.). To achieve this, the dynamics of each subsystem are 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 di erentdynamical systems with control saturations is addressed as a particular case. Coordinationwill be understood as actuating on the systems references to achieve some collective behavior considering the individual restrictions of each system.
