CDS 270-2
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Course Description

Homepage: CDS 270-2. Networked Control Systems. Units 3-0-6.

Course Outline

The current outline for the course is to cover the following topics:

I. Introduction (3 lectures)

* What are networked control systems

* Example NCS's: Alice, RoboFlag, Trinet

II. Review material (6 lectures)

* Receding horizon control

* Estimation and sensor fusion

* Hybrid systems and SOS

III. Packet-Based Estimation and Control (6 lectures)

* Packet-based messaging architectures (TCP, UDP, MTA, RCS)

* Bode-Shannon, rate limits, MD coding

IV. Distributed estimation and control (6 lectures)

* Distributed dynamic programming and receding horizon control

* Distributed estimation (KF, MHE, PF)

* Cross layer designs

V. Cooperative control (6 lectures)

* Consensus protocols (CDS, CS, Ec)

* Hybrid systems and asynchronous computation (CCL)

VI. Project presentations (3 lectures)

MWF 2-3 PM; 125 Steele

Richard Murray

Office hours: by appointment

First Lecture

will be on Monday , March 29, 2006 in 125 Steele at 2 PM.

Projects

No exams and optional homework, but a course project will be required.