Coordinación de sistemas con diferentes dinámicas utilizando conceptos de invarianza geométrica y modos deslizantes
Systems coordination: using geometric set invariance and sliding modes ideas
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"referencia" => array:2 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">a</span>" "identificador" => "aff0005" ] 1 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">¿</span>" "identificador" => "cor0005" ] ] ] 1 => array:4 [ "nombre" => "Fabricio" "apellidos" => "Garelli" "email" => array:1 [ 0 => "fabricio@ing.unlp.edu.ar" ] "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">b</span>" "identificador" => "aff0010" ] ] ] 2 => array:4 [ "nombre" => "Jesús" "apellidos" => "Picó" "email" => array:1 [ 0 => "jpico@ai2.upv.es" ] "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">a</span>" "identificador" => "aff0005" ] ] ] ] "afiliaciones" => array:2 [ 0 => array:3 [ "entidad" => "Institut d’Automàtica i Informàtica Industrial, Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, España" "etiqueta" => "a" "identificador" => "aff0005" ] 1 => array:3 [ "entidad" => "CONICET, LEICI, Facultad de Ingeniería, Universidad Nacional de La Plata (UNLP), C.C.91 (1900) La Plata, Argentina" "etiqueta" => "b" "identificador" => "aff0010" ] ] "correspondencia" => array:1 [ 0 => array:3 [ "identificador" => "cor0005" "etiqueta" => "⁎" "correspondencia" => "Autor para correspondencia." ] ] ] ] "titulosAlternativos" => array:1 [ "en" => array:1 [ "titulo" => "Systems coordination: using geometric set invariance and sliding modes ideas" ] ] "textoCompleto" => "<span class="elsevierStyleSections"><span id="sec0005" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0025">Referencias no citadas</span><p id="par0005" class="elsevierStylePara elsevierViewall"><a class="elsevierStyleCrossRef" href="#bib0005">Antonelli, 2013</a>, <a class="elsevierStyleCrossRef" href="#bib0010">Bacciotti and Rosier, 2005</a>, <a class="elsevierStyleCrossRef" href="#bib0015">Blanchini and Miani, 2008</a>, <a class="elsevierStyleCrossRef" href="#bib0020">Cao and Ren, 2012</a>, <a class="elsevierStyleCrossRef" href="#bib0025">Cao et al., 2013</a>, <a class="elsevierStyleCrossRef" href="#bib0030">Clarke, 1990</a>, <a class="elsevierStyleCrossRef" href="#bib0035">Corteś, 2006</a>, <a class="elsevierStyleCrossRef" href="#bib0040">Cortes, 2008</a>, <a class="elsevierStyleCrossRef" href="#bib0045">Edwards and Spurgeon, 1998</a>, <a class="elsevierStyleCrossRef" href="#bib0050">Filippov and Arscott, 1988</a>, <a class="elsevierStyleCrossRef" href="#bib0055">Galzi and Shtessel, 2006</a>, <a class="elsevierStyleCrossRef" href="#bib0060">Garelli, 2011</a>, <a class="elsevierStyleCrossRef" href="#bib0065">Garelli et al., 2006a</a>, <a class="elsevierStyleCrossRef" href="#bib0070">Garelli et al., 2006b</a>, <a class="elsevierStyleCrossRef" href="#bib0075">Gracia et al., 2012a</a>, <a class="elsevierStyleCrossRef" href="#bib0080">Gracia et al., 2012b</a>, <a class="elsevierStyleCrossRef" href="#bib0085">Hanus et al., 1987</a>, <a class="elsevierStyleCrossRef" href="#bib0090">He and Cao, 2011</a>, <a class="elsevierStyleCrossRef" href="#bib0095">Mantz et al., 2004</a>, <a class="elsevierStyleCrossRef" href="#bib0100">Mareczek et al., 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0105">Olfati-Saber et al., 2007</a>, <a class="elsevierStyleCrossRef" href="#bib0110">Perruquetti and Barbot, 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0115">Picó et al., 2009</a>, <a class="elsevierStyleCrossRef" href="#bib0120">Ren et al., 2007</a>, <a class="elsevierStyleCrossRef" href="#bib0125">Sira-Ramírez, 1989</a>, <a class="elsevierStyleCrossRef" href="#bib0130">Tanner et al., 2007</a>, <a class="elsevierStyleCrossRef" href="#bib0135">Utkin et al., 1999</a>, <a class="elsevierStyleCrossRef" href="#bib0140">Vignoni, 2011</a>, <a class="elsevierStyleCrossRef" href="#bib0145">Vignoni et al., 2011</a>, <a class="elsevierStyleCrossRef" href="#bib0150">Vignoni et al., 2012</a> and <a class="elsevierStyleCrossRef" href="#bib0155">Walgama et al., 1992</a>.</p></span></span>" "textoCompletoSecciones" => array:1 [ "secciones" => array:6 [ 0 => array:2 [ "identificador" => "xres278362" "titulo" => "Resumen" ] 1 => array:2 [ "identificador" => "xpalclavsec260195" "titulo" => "Palabras clave" ] 2 => array:2 [ "identificador" => "xres278361" "titulo" => "Abstract" ] 3 => array:2 [ "identificador" => "xpalclavsec260196" "titulo" => "Keywords" ] 4 => array:2 [ "identificador" => "sec0005" "titulo" => "Referencias no citadas" ] 5 => array:1 [ "titulo" => "Referencias" ] ] ] "pdfFichero" => "main.pdf" "tienePdf" => true "fechaRecibido" => "2012-09-27" "fechaAceptado" => "2013-09-02" "PalabrasClave" => array:2 [ "es" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Palabras clave" "identificador" => "xpalclavsec260195" "palabras" => array:5 [ 0 => "coordinación de sistemas" 1 => "invarianza de conjuntos" 2 => "modos deslizantes" 3 => "sistemas multi-agentes" 4 => "control con restricciones" ] ] ] "en" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Keywords" "identificador" => "xpalclavsec260196" "palabras" => array:1 [ 0 => "systems coordination geometric set invariance sliding modes multi-agents systems constrained control" ] ] ] ] "tieneResumen" => true "resumen" => array:2 [ "es" => array:2 [ "titulo" => "Resumen" "resumen" => "<p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">Dentro de las posibles acepciones de la palabra, en este trabajo hablaremos de <span class="elsevierStyleItalic">coordinación</span> para referirnos a la acción de actuar sobre las referencias de los sistemas para lograr algún comportamiento colectivo deseado pero considerando las restricciones y capacidades de cada sistema. Con este objetivo, se desarrolla una novedosa metodología basada en técnicas de acondicionamiento de referencia utilizando invarianza geométrica de conjuntos y control por modos deslizantes. A partir de un marco general, se proponen dos enfoques: uno global del tipo sistema supervisor, y otro local a través de interacciones entre los distintos sistemas, generando una red de interacciones.</p><p id="spar0010" class="elsevierStyleSimplePara elsevierViewall">La metodología desarrollada permite abordar el el problema de coordinación de sistemas cuya dinámica no necesariamente es igual para todos los sistemas, pudiendo ser lineal, no lineal, de diferente orden, con restricciones, etc. Para ello, la dinámica propia de cada sub-sistema se mantiene <span class="elsevierStyleItalic">oculta</span> al sistema de coordinación. Por otro lado, el sistema de coordinación dispone sólo de la información necesaria sobre las limitaciones y restricciones de cada sistema. La idea principal de enfoque de este trabajo es que para coordinar varios sistemas es necesario modular las referencias locales de cada uno, teniendo en cuenta los objetivos globales, las interacciones locales y las capacidades de cada uno de los sistemas.</p>" ] "en" => array:2 [ "titulo" => "Abstract" "resumen" => "<p id="spar0015" class="elsevierStyleSimplePara elsevierViewall">Among the possible meanings of the word, this paper will discuss coordinated action to refer to the act on references of systems to achieve some collective behavior desired but considering the constraints and capabilities of each system. To this end, we develop a new methodology based on conditioning techniques reference using geometric invariance sets and sliding mode control. From a general framework, we propose two approaches: a global centralized one and a local through interactions between different systems.</p><p id="spar0020" class="elsevierStyleSimplePara elsevierViewall">The approach addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g. linear and nonlinear, different orders, constraints, etc.).The main idea is to shape the systems local feasible references in order to keep them coordinated.To show the applicability of the approach, the problem of coordinating different dynamical systems with control saturations is addressed as a particular case with both global and local configuration.</p>" ] ] "bibliografia" => array:2 [ "titulo" => "Referencias" "seccion" => array:1 [ 0 => array:2 [ "identificador" => "bibs0005" "bibliografiaReferencia" => array:31 [ 0 => array:3 [ "identificador" => "bib0005" "etiqueta" => "Antonelli, 2013" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Interconnected dynamic systems: An overview on distributed control" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "G. 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