A Topology-Switching Coalitional Control and Observation Scheme with Stability Guarantees

TL;DR

This paper introduces a dynamic coalitional control and observation scheme that switches communication links online, balancing system performance and communication costs while guaranteeing stability through LMI-based design, demonstrated via vehicle platoon simulations.

Contribution

It proposes a novel topology-switching scheme for coalitional control and observation with stability guarantees using LMIs, adaptable to online communication changes.

Findings

Effective control and observation switching with stability guarantees.

Simulation demonstrates improved vehicle platoon performance.

Balances system performance and communication costs.

Abstract

In this paper a coalitional control and observation scheme is presented in which the coalitions are changed online by enabling and disabling communication links. Transitions between coalitions are made to best balance overall system performance and communication costs. Linear Matrix Inequalities are used to design the controller and observer, guaranteeing stability of the switching system. Simulation results for vehicle platoon control are presented to illustrate the proposed method.