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.File | Dimensione | Formato | |
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