Difference between revisions of "EECI09: Distributed control"
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−  {{eecisp09 headerprev=  +  {{eecisp09 headerprev=Graph theorynext=Cooperative control}} 
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−  +  In this lecture we introduce the problem of distributed control of a multiagent 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  +  * Lecture notes: {{eecisp09 pdfL5_distributed.pdfDistributed control systems}} 
−  +  
== Further Reading ==  == Further Reading ==  
−  * <p>[http://www.cds.caltech.edu/~murray/  +  * <p>J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):14651476, 2004.</p> 
−  * <p>  +  * <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. 281293.</p> 
+  * <p>V. Gupta, B. Hassibi and R. M. Murray, [http://www.cds.caltech.edu/~murray/papers/2003r_ghm04acc.html "On the Synthesis of Control Laws for a Network of Autonomous Agents"], Proceedings of the American Control Conference 2004, vol. 6, pp. 49274932, 2004.</p>  
+  * <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 14781495, 2003.</p>  
+  * <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. 15021519, Sep. 2004.</p>  
+  * <p>M. Rotkowitz and S. Lall, "A Characterization of Convex Problems in Decentralized Control", ''IEEE Transactions on Automatic Control'', vol. 51, no. 2, pp.274286, Feb. 2006.</p>  
−  == Additional Information ==  +  == Additional Information == 
−  +  * [[EECI08: Distributed Estimation and Control2008 lecture page]]  
−  * [[EECI08:  +  
−  + 
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 multiagent 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 notes: Distributed control systems
Further Reading

J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", IEEE T. Automatic Control, 49(9):14651476, 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. 281293.

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. 49274932, 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 14781495, 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. 15021519, 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.274286, Feb. 2006.