Control Synthesis of Singular PDT Switched Systems With State Constraints and Application to HyTAQs

被引：0

作者：

Zhang, Lixian ^{[1
]}

Ma, Yuting ^{[1
]}

Yang, Jianan ^{[1
]}

Wu, Tong ^{[1
]}

Zhu, Yimin ^{[1
]}

机构：

[1] Harbin Inst Technol, Sch Astronaut, Harbin 150000, Peoples R China

来源：

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING | 2025年 / 22卷

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Switches; Switched systems; Control systems; Automation; Quadrotors; Vectors; Artificial intelligence; Training; Stability criteria; Robots; Singular switched systems; persistent dwell time switching signals; mode-dependent state constraints; hybrid terrestrial and aerial quadrotors; LINEAR-SYSTEMS; STABILITY ANALYSIS; TRACKING;

D O I：

10.1109/TASE.2025.3545069

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the problem of control synthesis for a class of continuous-time singular switched systems, based on which a modeling and control framework is developed for Hybrid Terrestrial and Aerial Quadrotors (HyTAQs). To accurately describe the frequent switching phenomenon for HyTAQs during the landing process, persistent dwell time (PDT) switching signals are taken into consideration. Besides, mode-dependent state constraints are introduced to singular switched systems, which are more practical and general than the ones considered in earlier studies. Numerically testable stability criteria are obtained, and thereby the conditions on the existence of controllers capable of satisfying the mode-dependent state constraints are derived. Finally, two illustrative examples including HyTAQs are presented to demonstrate the necessity and validity of the designed controllers.

引用

页码：12572 / 12582

页数：11

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