Cooperative Networked Control Based on a Time-Varying Lyapunov Function

Abstract

This paper treats switched cooperative control design of a networked system composed of a set of linear time-invariant (LTI) plants. Our main objective is to synthesize a cooperative resource-sharing dynamic strategy assuring stability and a $$\mathscr {H}_2$$ guaranteed performance for the overall system. This strategy relies upon a coordinator that manages the control signal transmission among the LTI plants. Mathematically, the coordinator is described as a switching rule that chooses at each sampling time one of the plants to receive the updated control signal, while the others must hold constant their previously received ones. The design conditions are based on a time-varying convex Lyapunov function and expressed in terms of linear matrix inequalities, being easier to solve than other methodologies available in the literature. The proposed control strategy has been experimentally validated by simultaneously controlling two different mechanical systems, an inverted pendulum and an active suspension. Experimental results and simulations show the efficiency of the proposed control technique.