Hybrid formation control for heterogeneous uncertain linear two-time-scale systems

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-03-21 DOI:10.1016/j.automatica.2025.112267

Yan Lei , Zheng Wang , Xin Wang , Hongyi Li , Irinel-Constantin Morărescu

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引用次数: 0

Abstract

This paper investigates time-varying output formation of interconnected heterogeneous linear two-time-scale systems with model uncertainty. Unlike previous works on the cooperation of interconnected two-time-scale systems, we consider nonidentical dynamics for each agent that may be characterized by different dimensions and time-scaling factors. Additionally, the systems are interconnected through a switching graph with a disconnected topology, rendering more challenging the analysis and the controller design. To address these challenges, a hybrid two-layer hierarchical control protocol is proposed. The upper layer utilizes an impulsive cooperative control strategy to generate local references, enabling discrete-time interactions among agents and thereby reducing the communication burden. The lower layer implements an internal model-based controller for the two-time-scale dynamics to track the generated references, demonstrating robustness against small model uncertainties. Closed-loop analysis is based on input-to-state stability (ISS) results for hybrid systems. Furthermore, the obtained result is extended to achieve the output consensus. Finally, two examples are presented to illustrate the effectiveness of the results.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.