A topology-switching coalitional control and observation scheme with stability guarantees

Journal article (2020)

Authors

Paula Chanfreut University of Seville
T. Keijzer Team Riccardo Ferrari - Mechanical, Maritime and Materials Engineering
Riccardo M.G. Ferrari Team Riccardo Ferrari - Mechanical, Maritime and Materials Engineering
José María Maestre University of Seville
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2020 Paula Chanfreut, T. Keijzer, Riccardo M.G. Ferrari, Jose Maria Maestre
DOI: https://doi.org/10.1016/j.ifacol.2020.12.1792
More Info
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Published Date

2020

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

In this paper a coalitional control and observation scheme is presented in which the coalitions are changed online by enabling and disabling communication links. Transitions between coalitions are made to best balance overall system performance and communication costs. Linear Matrix Inequalities are used to design the controller and observer, guaranteeing stability of the switching system. Simulation results for vehicle platoon control are presented to illustrate the proposed method.