论文标题
在共识中应用的开关系统中的不变性原理和可观察性
Invariance Principles and Observability in Switched Systems with an Application in Consensus
论文作者
论文摘要
通过考虑与该输出相关的弱可观察力（WO），使用任何具有非阳性导数的非负函数来定义虚拟输出来定义虚拟输出，可以将经典的LaSalle不变性原理扩展到切换的非线性时间变化（NLTV）系统。 wo是输出有关状态轨迹的限制行为的信息（隐藏在输出的零位点）。在开关NLTV系统的上下文中，可以使用最近建立的限制零输出解决方案的框架来探索WO。除此之外，使用新方法的开关NLTV系统的积分不变性原理扩展，以确保封闭套件的均匀全球诱之间性（不假定统一的Lyapunov稳定性或停留时间条件）。通过说明所提出的方法，解决了具有开关通信拓扑的非独立移动机器人的无领先共识问题，从而产生了新的控制策略和新的收敛结果。
Using any nonnegative function with a nonpositive derivative along trajectories to define a virtual output, the classic LaSalle invariance principle can be extended to switched nonlinear time-varying (NLTV) systems, by considering the weak observability (WO) associated with this output. WO is what the output informs about the limiting behavior of state trajectories (hidden in the zero locus of the output). In the context of switched NLTV systems, WO can be explored using the recently established framework of limiting zeroing-output solutions. Adding to this, an extension of the integral invariance principle for switched NLTV systems with a new method to guarantee uniform global attractivity of a closed set (without assuming uniform Lyapunov stability or dwell-time conditions) is proposed. By way of illustrating the proposed method, a leaderless consensus problem for nonholonomic mobile robots with a switching communication topology is addressed, yielding a new control strategy and a new convergence result.
