A topology-switching coalitional control and observation scheme with stability guarantees
Paula Chanfreut (University of Seville)
Twan Keijzer (TU Delft - Mechanical Engineering)
Riccardo M.G. Ferrari (TU Delft - Mechanical Engineering)
Jose Maria Maestre (University of Seville)
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Abstract
In this paper a coalitional control and observation scheme is presented in which the coalitions are changed online by enabling and disabling communication links. Transitions between coalitions are made to best balance overall system performance and communication costs. Linear Matrix Inequalities are used to design the controller and observer, guaranteeing stability of the switching system. Simulation results for vehicle platoon control are presented to illustrate the proposed method.
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