Title

An Impact Equivalence Principle Of Separating Control Designs For Networked Heterogeneous Affine Systems

Keywords

Cooperative control; Generalized passivity; Heterogeneous dynamics; Impact equivalence; Networked control; Separation principle

Abstract

In this paper, the new concept of generalized passivity is introduced to extend the concept of passivity to a dynamical system of any relative degrees and to quantify by a penalty coefficient the impact of its dynamics on the performance of its networked operation. It is shown that the knowledge of an upper bound on those penalty coefficients is sufficient to synthesize a network-level cooperative control and that, if all the physical systems are individually made to be generalized passive by appropriately designing their self-feedback controls, they can arbitrarily be placed at the nodes of a network-enabled cooperative control system. The proposed separation principle prescribes a completely modularized design methodology, and it unravels the complexity of analyzing and designing cooperative control of heterogeneous physical systems. © 2012 IFAC.

Publication Date

1-1-2012

Publication Title

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volume

45

Issue

26

Number of Pages

210-215

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.3182/20120914-2-US-4030.00008

Socpus ID

84880982464 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84880982464

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