Turn-Based Supervision Architectures for Dynamic Networks involving Plug-and-Play Operations

In this note, we consider a novel supervision algorithm for the distributed management of interconnected linear systems sharing coupling coordination constraints. The proposed supervision approach is based on the recently developed Turn-Based Command Governor strategy (Casavola et al. (2018)) where the agents in the networks follow a particular round-robin policy in updating their commands. Such a strategy is here extended to deal with so called Plug-and-Play (PnP) operations. Such a problem has been faced in a formal way by providing the conditions that allow PnP operations without violating existing constraints. In this respect, the notation of Pluggability of systems that aim at joining the same network is introduced as a structural property. A final example is presented to illustrate the effectiveness of the proposed strategy.