Consenso Promedio en Nodos Integradores Perturbados: Enfoque de la Función Barrera en Modos Deslizantes Integrales Continuos

Resumen: Dentro del problema clásico de consenso promedio de nodos integradores perturbados, se investiga el uso de controladores adaptables por modos deslizantes integrales continuos. Considerando que la perturbación tiene derivada respecto al tiempo con cota desconocida, y que el grafo de comunicación es conexo, se propone un controlador adaptable super-twisting basado en la función barrera en combinación con el algoritmo clásico de consenso promedio. Esta configuración asegura la convergencia de los estados de cada agente a una vecindad de radio prescrito del valor de consenso promedio, además satisface las características clásicas de los protocolos de consenso y previene la sobrestimación de las ganancias del controlador robustificante ante una clase de perturbaciones.

¿Cómo citar?

Christopher D. Cruz-Ancona & Leonid Fridman. Consenso Promedio en Nodos Integradores Perturbados: Enfoque de la Función Barrera en Modos Deslizantes Integrales Continuos. Memorias del Congreso Nacional de Control Automático, pp. 552-557, 2019.

Palabras clave

Sistemas Multi-Agente, Control Discontinuo (modos deslizantes), Control Robusto

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