In this chapter1, we present an industrial case study whose difficulty lies in the synchronization of two independent systems. Note that the decoupling problem has received a large number of contributions (see e.g. Isidori [1995], Nijmeijer and van der Schaft [1990]), as opposed to the synchronization one, its contrary, especially with decentralized information. Here, the independent subsystems correspond to two independent windshield wipers that must be synchronized in particular to avoid collisions. They are driven by two independent actuators, each one fed by its own position measurement only. The lack of global information therefore makes the synchronization hard. We propose a decentralized flatness-based control design, where the reference trajectories are specifically designed to avoid collisions and with a trajectory tracking loop, supervised by a clock control loop that regulates the time rate at which both reference trajectories are tracked.
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© 2009 Springer-Verlag Berlin Heidelberg
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Lévine, J. (2009). Synchronization of a Pair of Independent Windshield Wipers. In: Analysis and Control of Nonlinear Systems. Mathematical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00839-9_11
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DOI: https://doi.org/10.1007/978-3-642-00839-9_11
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