Difference between revisions of "EECI09: Distributed control"

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One paragraph overview of the lecture
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In this lecture we introduce the problem of distributed control of a multi-agent system.  As an analysis tool, we prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.  We also consider several design paradigms for decentralized and distributed control systems.
  
 
==  Lecture Materials ==
 
==  Lecture Materials ==
* Lecture slides: {{eeci-sp09 pdf|Ln_topic.pdf|Title}}
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* Lecture notes: {{eeci-sp09 pdf|L5_distributed.pdf|Distributed control systems}}
* Links to anything else that is handed out in the lecture
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== Further Reading ==
 
== Further Reading ==
* <p>[http://www.cds.caltech.edu/~murray/cdspanel Control in an Information Rich World], R. M. Murray (ed). SIAM, 2003. This book provides a high level description of some of the research challenges and opportunities in the field of control. The executive summary (Section 1) and the application sections on "Information and Networks" and "Robotics and Intelligent Machines" (Section 3.2 and 3.3) are particularly relevant.</p>
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* <p>J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.</p>
* <p>Second paper</p>
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* <p>S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in ''Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences'', 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.</p>
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* <p>V. Gupta, B. Hassibi and R. M. Murray, [http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html "On the Synthesis of Control Laws for a Network of Autonomous Agents"], Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004.</p>
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* <p>R. D'Andrea and G. E. Dullerud, "Distributed Control Design for Spatially Interconnected Systems", ''IEEE Transactions on Automatic Control'', vol. 48, no. 9, pp 1478-1495, 2003.</p>
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* <p>C. Langbort, R. S. Chandra and R. D'Andrea, "Distributed Control Design for Systems Interconnected over an Arbitrary Graph", ''IEEE Transactions on Automatic Control'', vol. 49, no. 9, pp. 1502-1519, Sep. 2004.</p>
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* <p>M. Rotkowitz and S. Lall, "A Characterization of Convex Problems in Decentralized Control", ''IEEE Transactions on Automatic Control'', vol. 51, no. 2, pp.274-286, Feb. 2006.</p>
  
==  Additional Information ==  
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==  Additional Information ==
* [http://home.cwru.edu/ncs/ Networked Control Systems Repository] (M. Branicky and S. Phillipps)
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* [[EECI08: Distributed Estimation and Control|2008 lecture page]]
* [[EECI08: Introduction to Networked Control Systems|2008 lecture page]]
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* Additional links to external information
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Latest revision as of 08:11, 18 March 2009

Prev: Graph theory Course home Next: Cooperative control

In this lecture we introduce the problem of distributed control of a multi-agent system. As an analysis tool, we prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also consider several design paradigms for decentralized and distributed control systems.

Lecture Materials

Further Reading

  • J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", IEEE T. Automatic Control, 49(9):1465-1476, 2004.

  • S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences, 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.

  • V. Gupta, B. Hassibi and R. M. Murray, "On the Synthesis of Control Laws for a Network of Autonomous Agents", Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004.

  • R. D'Andrea and G. E. Dullerud, "Distributed Control Design for Spatially Interconnected Systems", IEEE Transactions on Automatic Control, vol. 48, no. 9, pp 1478-1495, 2003.

  • C. Langbort, R. S. Chandra and R. D'Andrea, "Distributed Control Design for Systems Interconnected over an Arbitrary Graph", IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1502-1519, Sep. 2004.

  • M. Rotkowitz and S. Lall, "A Characterization of Convex Problems in Decentralized Control", IEEE Transactions on Automatic Control, vol. 51, no. 2, pp.274-286, Feb. 2006.

Additional Information