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Time-Synchronized Control: Analysis and Design
Dongyu Li
Shuzhi Sam Ge
Tong Heng Lee
出版
Springer Nature
, 2022-01-10
主題
Technology & Engineering / Automation
Technology & Engineering / Engineering (General)
Technology & Engineering / Electrical
Mathematics / Applied
ISBN
9811630895
9789811630897
URL
http://books.google.com.hk/books?id=7qZYEAAAQBAJ&hl=&source=gbs_api
EBook
SAMPLE
註釋
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.