Passivity of Interconnected Asynchronous Discrete-Time Systems

Jose Cueli (1) , Carlos Canudas de Wit (1)

1 NECS - Networked Controlled Systems

This paper presents a constructive algorithm to design local controllers for feedback systems that are interconnected via time-varying and asynchronous sampling. These systems result in many application fields such as remotely-operated systems, interconnected vehicle control loops, and more generally in component-based control design where synchronous exchange of information is not feasible. The design is based on the (MASP) MAximum Sampling time preserving Passivity, and uses discrete-time passivity considerations. The paper first explores several ways to compute the MASP for linear systems, and then proposes a numerical algorithm to compute local feedback loops providing a MASP compatible with the maximum sampling-time upperbound of each sub-system. This results in a exponentially stable interconnection. The paper also presents a simulation example of this design.

Domaines: Automatique / Robotique

Jose Cueli, Carlos Canudas de Wit. Passivity of Interconnected Asynchronous Discrete-Time Systems. IFAC WC 2008 - 17th IFAC World Congress, Jul 2008, Séoul, North Korea. pp.s/n. ⟨hal-00394987⟩