A switching control strategy for disturbed networked systems with similar dynamics

The paper concerns networked systems that are composed of subsystems with similar dynamics. The subsystems are represented by nominal models with identical dynamics and individual models describing the deviation of the subsystems from the common nominal model. A method for the compensation of the impact of the individual models in the local controllers of the subsystems is developed. Based on this compensation, a switching control strategy for symmetrically interconnected subsystems is presented, which reduces the communication effort compared to a centralized controller and, at the same time, guarantees that a maximal deviation among the subsystem states is not exceeded, if a disturbance occurs to a subsystem. The strategy switches from a decentralized controller to a centralized controller, whenever the subsystem state exceeds a threshold. The compensation method and the switching control strategy are demonstrated by its application to platooning vehicles.