In this paper we provide an eigenvalue placement methodology that guarantees asymptotic stability in a piecewise linear switched system where a lowerbound on the dwell time is known in advance. In particular, considering the case where each subsystem is a linear controllable system, we introduce an algorithm for placing the eigenvalues of each subsystem in such a way that the overall switched system is asymptotically stable. This is obtained defining a relationship between the dwell time and the stability properties of each subsystem. Simulations of a heterogeneous multi-robot system are provided for validation purposes.

Eigenvalue placement for asymptotic stability in piecewise linear switched systems / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - 2016-(2015), pp. 4885-4890. ((Intervento presentato al convegno 54th IEEE Conference on Decision and Control, CDC 2015 tenutosi a Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn nel 2015 [10.1109/CDC.2015.7402982].

Eigenvalue placement for asymptotic stability in piecewise linear switched systems

SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2015

Abstract

In this paper we provide an eigenvalue placement methodology that guarantees asymptotic stability in a piecewise linear switched system where a lowerbound on the dwell time is known in advance. In particular, considering the case where each subsystem is a linear controllable system, we introduce an algorithm for placing the eigenvalues of each subsystem in such a way that the overall switched system is asymptotically stable. This is obtained defining a relationship between the dwell time and the stability properties of each subsystem. Simulations of a heterogeneous multi-robot system are provided for validation purposes.
2015
54th IEEE Conference on Decision and Control, CDC 2015
Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn
2015
2016-
4885
4890
Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare
Eigenvalue placement for asymptotic stability in piecewise linear switched systems / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - 2016-(2015), pp. 4885-4890. ((Intervento presentato al convegno 54th IEEE Conference on Decision and Control, CDC 2015 tenutosi a Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn nel 2015 [10.1109/CDC.2015.7402982].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1113401
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