Title :
Recent advances in sliding-mode based consensus strategies
Author :
Pilloni, Alessandro ; Franceschelli, Mauro ; Pisano, Alessandro ; Usai, Enrico
Author_Institution :
Dept. of Electr. & Electron. Eng. (DIEE), Univ. of Cagliari, Cagliari, Italy
fDate :
June 29 2014-July 2 2014
Abstract :
In this paper we present a review of our recent advancements in consensus-based cooperative control by using sliding-mode concepts for networked systems. In particular, strategies for achieving consensus in networks of persistently perturbed agents with static and switching network topologies, which can be disconnected for intervals of time, are discussed. We consider both first and second order agent models. Convergence proofs are carried out by means of non-smooth Lyapunov analysis and simulative results are presented to corroborate the theoretical results.
Keywords :
Lyapunov methods; multi-robot systems; network theory (graphs); networked control systems; variable structure systems; consensus-based cooperative control; convergence proof; networked systems; nonsmooth Lyapunov analysis; persistently perturbed agent network; sliding-mode based consensus strategies; static network topology; switching network topology; Convergence; Lyapunov methods; Network topology; Protocols; Switches; Topology; Transient analysis;
Conference_Titel :
Variable Structure Systems (VSS), 2014 13th International Workshop on
Conference_Location :
Nantes
DOI :
10.1109/VSS.2014.6881155
