Difference between revisions of "EECI09: Distributed control"

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==  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}}
  
 
== Further Reading ==
 
== Further Reading ==
 
* <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>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>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>
+
* <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>
* <p>[http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html "On the Synthesis of Control Laws for a Network of Autonomous Agents"], V. Gupta, B. Hassibi and R. M. Murray, Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004.</p>
+
* <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>
* <p>"Distributed Control Design for Spatially Interconnected Systems", R. D'Andrea and G. E. Dullerud, ''IEEE Transactions on Automatic Control'', vol. 48, no. 9, pp 1478-1495, 2003.</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 1478-1495, 2003.</p>
* <p>"Distributed Control Design for Systems Interconnected over an Arbitrary Graph", C. Langbort, R. S. Chandra and R. D'Andrea, IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1502-1519, Sep. 2004.</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. 1502-1519, Sep. 2004.</p>
* <p>"A Characterization of Convex Problems in Decentralized Control", M. Rotkowitz and S. Lall, IEEE Transactions on Automatic Control, vol. 51, no. 2, pp.274-286, Feb. 2006.</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.274-286, Feb. 2006.</p>
  
 
==  Additional Information ==
 
==  Additional Information ==
 
* [[EECI08: Distributed Estimation and Control|2008 lecture page]]
 
* [[EECI08: Distributed Estimation and Control|2008 lecture page]]

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