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检索条件"任意字段=5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015"

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5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

5th IFAC Workshop on Distributed Estimation and Control in N...

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5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

the proceedings contain 45 papers. the topics discussed include: a deterministic gossiping algorithm for the synchronization of multi-agent systems;a closed loop stability condition of switched systems applied to NCSs with packet loss;nonlinear pi rate control in bottleneck links: application to teleoperation systems;plug-and-play reconfiguration of locally interconnected systems with limited model information;a linear programming framework for networked control system design;a new perspective to synchronization in networks of coupled oscillators: reverse engineering and convex relaxation;learning without recall: a case for log-linear learning;localized distributed Kalman filters for large-scale systems;distributed optimization for multi-task learning via nuclear-norm approximation;complexity of the minimum input selection problem for structural controllability;control of stochastic evolutionary games on networks;and travelling waves in a multi-agent system with general graph topology.

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Security Measure Implementation for distributed State estimation 5

Security Measure Implementation for Distributed State Estima...

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5th ifac workshop on Cyber-Physical Human systems

作者： Shinohara, Takumi Namerikawa, Toru Keio Univ Yokohama Kanagawa 2238522 Japan

Toward the realization of secure and resilient cyber-physical human systems (CPHS), this paper deals with the distributed secure state estimation problem considering security measure implementation for the systems. We present that the implementation enhances the system resilience, which means that the distributed state estimation can be achieved even if more networks are compromised. We also show that the implementation is coNP-hard, but, on the positive side, the implementation can be solved in polynomial time when the system satisfies a certain condition. this paper further provides a distributed secure state estimator exploiting the security implementation. Copyright (c) 2024 the Authors.

关键词： distributed state estimation sensor attacks networked control systems

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networked Vehicle Merging by Cooperative Tracking control 8th

Networked Vehicle Merging by Cooperative Tracking Control

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Schwab, Alexander Schenk, Kai Lunze, Jan Ruhr Univ Inst Automat & Comp Control Bochum Germany

this paper solves the vehicle merging problem by trajectory tracking of networked vehicles to combine multiple vehicle streams. Trajectory tracking is achieved with distributed feed-forward controllers that consider the couplings between the vehicles by modifying the local reference trajectories. For this purpose, the controllers are connected via a communication network. Different communication strategies are discussed and it is shown that the proposed tracking controllers solve the merging problem with arbitrary linear vehicle models. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Merging

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distributed Multi-Agent Reinforcement Learning by Actor-Critic Method 8th

Distributed Multi-Agent Reinforcement Learning by Actor-Crit...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Heredia, Paulo C. Mou, Shaoshuai Purdue Univ W Lafayette IN 47906 USA

We investigate the problem of multi-agent reinforcement learning, in which each agent only has access to its local reward and can only communicate with its nearby neighbors. A distributed algorithm based on actor-critic method has been developed to enable all agents to cooperatively learn a control policy that maximizes the global objective function. Simulations are also provided to validate the proposed algorithm. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems

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Tuning Communication Latency for distributed Model Predictive control 8th

Tuning Communication Latency for Distributed Model Predictiv...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Hu, Haimin Gatsis, Konstantinos Morari, Manfred Pappas, George J. Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA

this paper presents a distributed MPC scheme for the class of input-coupled linear systems implemented over wireless networks. the approach allows each agent to achieve reduced communication latency by sending less information to their neighbours. Uncertainties incurred by this delayed and incomplete information are handled by a constraint tightening procedure. Simulation examples demonstrate that for distributed systems with chain structure, our tightening method is invariant to the number of agents in the network. Moreover, we show that by a proper tuning of latency, an optimized control performance can be achieved. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： distributed systems predictive control robust control communication latency

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distributed State estimation by a Network of Observers under Communication and Measurement Delays 8th

Distributed State Estimation by a Network of Observers under...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Basu, Himadri Yoon, Se Young Univ New Hampshire Dept Elect & Comp Engn Durham NH 03824 USA

In this paper we study the distributed state estimation of autonomous dynamic systems, under time-invariant communication and measurement delays. In the studied problem, we consider that the deployed network of observer agents cannot determine all the states of the observed plant from their own collected measurements. To reconstruct the correct state estimation, they must collaborate with neighboring agents to agree on the coordinated estimation data. Our current work considers the presence of time-invariant communication and measurement latency of the observer agents, and then following a low-gain approach we propose a framework for constructing distributed observers. Sufficient conditions for the stability of the corresponding observation error dynamics are derived, including an upper bound for the low-gain parameter of the observer equations. An illustrative example is also presented to verify the effectiveness of the theoretical derivations in the paper. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： distributed state estimation communication delay low-gain feedback leader-follower synchronization

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Predictive Triggering for distributed control of Resource Constrained Multi-agent systems 8th

Predictive Triggering for Distributed Control of Resource Co...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Mastrangelo, Jose Mario Baumann, Dominik Trimpe, Sebastian Max Planck Inst Intelligent Syst Intelligent Control Syst Grp Stuttgart Germany

A predictive triggering (PT) framework for the distributed control of resource constrained multi-agent systems is proposed. By predicting future communication demands and deriving a probabilistic priority measure, the PT framework is able to allocate limited communication resources in advance. the framework is evaluated through simulations of a cooperative adaptive cruise control system and experiments on multi-agent cart-pole systems. the results of these studies show its effectiveness over other event-triggered designs at reducing network utilization, while also improving the control error of the system. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Predictive triggering event-triggering multi-agent systems distributed control resource constrained control networked control systems

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networked Event-Based control of Moving Objects with Improved Position estimation 8th

Networked Event-Based Control of Moving Objects with Improve...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Schwung, Michael Jan Lunze Ruhr Univ Bochum Inst Automat & Comp Control Bochum Germany

this paper is concerned with the collision avoidance of moving objects in an uncertain environment. It proposes a networked event-based method for the position estimation of neighbouring objects with sparse communication. the objects are locally controlled and connected by a communication network. Each object possesses a predictor, an event generator and a trajectory planning unit. the trajectories are planned locally and are unknown to the neighbouring objects. For the purpose of collision avoidance the position of a nearby object must be estimated to react on the objects movement. therefore, a set of possible future positions of this object is generated by the predictor. If the set violates a condition, communication is invoked and the predictor is reset. In contrast to literature, this approach does not require sensors or cameras for a measurement and the communication effort is low. the effectiveness of the method is illustrated by a simulation study with two quadrotors. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Position estimation Trajectory planning networked systems Autonomous vehicles

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Decentralized Stochastic control in Partially Nested Information Structures 8th

Decentralized Stochastic Control in Partially Nested Informa...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Dave, Aditya Malikopoulos, Andreas A. Univ Delaware Newark DE 19716 USA

In this paper, we analyze a network of agents in a partially nested information structure with a common ancestor. We present the prescription approach applied to different permutations of agents and a structural result for optimal prescriptions of control strategies. We demonstrate the proposed approach through an example that aims at establishing time-invariant domains of the prescriptions without assuming a Linear Quadratic Gaussian problem. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Decentralized distributed and cooperative control multi-agent systems

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Augmented Consensus Algorithm for Discrete-time Dynamical systems 8th

Augmented Consensus Algorithm for Discrete-time Dynamical Sy...

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8th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Ji, Chengda Shen, Yue Kobilarov, Marin Gayme, Dennice F. Johns Hopkins Univ Dept Mech Engn 3400 N Charles St Baltimore MD 21218 USA Johns Hopkins Univ Dept Elect & Comp Engn 3400 N Charles St Baltimore MD 21218 USA

We propose a novel state estimation algorithm for consensus dynamics subject to measurement error. We first demonstrate that with properly tuned parameters, our algorithm attains the same equilibrium value that would be attained using the traditional algorithm based on local state feedback (nominal consensus). We then show that our approach improves consensus performance in a particular class of problems by reducing the state error (i.e., the difference between the agent states and the consensus value). A numerical example compares the performance of the distributed algorithm we propose to that of the traditional local feedback scheme. the results show that the proposed algorithm significantly reduces the state error. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： distributed control networked Dynamical systems Discrete-time systems Consensus Algorithm Measurement Error

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