Passivity-Based Control for Distributed Switched Systems
نویسندگان
چکیده
The traditional strengths of passive theory can be further extended when applied to switched systems. Some background will be covered on this recent generalization of passivity using multiple storage functions. The passivity-based control application considered in this paper is in distributed systems. A constructive method is covered to solve the output synchronization problem for networked mechanical systems with nonholonomic constraints. It is also shown that the general problem of multi-robot coordination can be handled using these results [1]. The final section of this paper will cover the concept of a passivity index applied to switched systems. The index is essentially a measure of the level of passivity in a dynamic system. It is a passive-based tool used to design stable feedback interconnections [2].
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