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Time-Synchronized Control: Analysis and Design
Dongyu Li, Tong Heng Lee, Shuzhi Sam Ge, et al.
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Naturwissenschaften, Medizin, Informatik, Technik / Elektronik, Elektrotechnik, Nachrichtentechnik
Beschreibung
Previous research on fixed/finite-time sliding-mode control focuses on forcing a system state (vector) to converge within a certain time moment, regardless of how each state element converges. This book introduces a control problem with unique finite/fixed-time stability considerations, namely time-synchronized stability, where at the same time, all the system state elements converge to the origin, and fixed-time-synchronized stability, where the upper bound of the synchronized settling time is invariant with any initial state. Accordingly, sufficient conditions for (fixed-) time-synchronized stability are presented. These stability formulations grant essentially advantageous performance when a control system (with diversified subsystems) is expected to accomplish multiple actions synchronously, e.g., grasping with a robotic hand, multi-agent simultaneous cooperation, etc. Further, the analytical solution of a (fixed) time-synchronized stable system is obtained and discussed. Applications to linear systems, disturbed nonlinear systems, and network systems are provided. In addition, comparisons with traditional fixed/finite-time sliding mode control are suitably detailed to showcase the full power of (fixed-) time-synchronized control.
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Autonomous systems, Time-synchronized consensus, Fixed-time control, Linear systems, Unmanned systems, Fixed-time-synchronized stability, Disturbed system, Singularity avoidance, Lyapunov stability, Time-synchronized formation, Finite-time control, Time-synchronized control, Sliding-mode control, Disturbance observers, Time-synchronized stability, Nonlinear systems, Singularity-free control, Time-synchronized convergence, Network system control, Stability analysis