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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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Root locus design for the synchronization of multi-agent systems in general directed networks 5

Root locus design for the synchronization of multi-agent sys...

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

作者： Khodaverdian, Saman Lanfermann, Felix Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universität Darmstadt Germany

this paper considers the synchronization problem of multi-agent SISO systems with general unidirectional communication structures. A distributed control strategy is presented which relies on relative output differences of neighboring agents and, thus, does not need relative state information. We propose a root locus design method to determine the synchronization gain. Since in directed networks the characteristic equation for synchronization might be complex valued, we use tools from the complex root locus technique to solve the synchronization task. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems

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Consensus-based distributed Kalman-Bucy Filter for Continuous-time systems

Consensus-based Distributed Kalman-Bucy Filter for Continuou...

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6th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Wu, Jingbo Elser, Anja Zeng, Shen Allgoewer, Frank Univ Stuttgart Inst Syst Theory & Automat Control D-70550 Stuttgart Germany

In this paper we introduce a distributed consensus-based Kalman filter for distributed state estimation of continuous-time systems. In particular, we achieve stability of the estimation error only assuming that all agents together are able to observe the system, which is in contrast to each agent possessing this property individually. the algorithm is implementable without any precomputation of filter parameters, such as coupling strength, or global knowledge about the graph. (C) 2016, ifac ( International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： distributed estimation Kalman Filter Coupled Riccati Equations

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Game-theoretic distributed control with information-theoretic security guarantees 5

Game-theoretic distributed control with information-theoreti...

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

作者： Lu, Yang Zhu, Minghui Department of Electrical Engineering Pennsylvania State University 201 Old Main University ParkPA16802 United States

this paper investigates the synthesis of distributed algorithms to solve a class of convex games. We first propose a distributed algorithm which enables abstract decision-makers and dynamically coupled linear physical systems to asymptotically identify a Nash equilibrium. By using secure multiparty computation, we then propose a distributed information-theoretically secure algorithm such that the convergence property is maintained and simultaneously the exchanged data of a decision-maker is kept private from semi-honest decision-makers. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Game theory

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A distributed explicit reference governor for constrained control of multiple UAVs 5

A distributed explicit reference governor for constrained co...

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

作者： Nicotra, Marco M. Bartulovic, Mihovil Garone, Emanuele Sinopoli, Bruno Brussels Belgium PittsburgPA United States

this paper develops a distributed strategy to control multiple UAVs in a confined environment. By pre-stabilizing each agent and using the applied reference as an auxiliary state variable, it is shown that the transient dynamics can be limited to a suitable invariant level-set. Coordination between agents is then addressed using existing tools for first order multi-agent system. the resulting control law is simple, computationally inexpensive and scalable. Moreover, it can easily take into account saturations on the available thrust as well as constraints on the agents' velocity. the effectiveness of the proposed algorithm is presented with several simulation results showing its robustness with respect to external disturbances. © 2015, IF AC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Governors

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distributed estimation, Guidance, and control of Formation Flying Spacecraft

Distributed Estimation, Guidance, and Control of Formation F...

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6th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Vu, thanh T. Rahmani, Amir R. Univ Miami Coral Gables FL 33146 USA Jet Prop Lab Pasadena Ft Collins CO 80523 USA

A three-tiered distributed architecture is proposed in which agents would independently estimate formation states, determine position assignment, and achieve and hold formation. Simulations of formation flying spacecraft in a low earth orbit are provided to demonstrate a practical case for the proposed three layer structure. Major advantages of such an approach are the relaxation of communcation constraints and increased fuel efficiency. (C) 2016, ifac (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： distributed estimation control Assignment

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A linear programming framework for networked control system design 5

A linear programming framework for networked control system ...

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

作者： Nakahira, Yorie You, Seungil California Institute of Technology PasadenaCA91125 United States

this paper considers stability and performance for a sampled data system with a distributed controller, time-varying delay, quantization, saturation, and external disturbances. We decompose the overall system into two subproblems. the first is a linear subsystem containing a distributed controller satisfying information sharing constraint between sensor and actuator. the second involves nonlinear error dynamics comprised of sampling, quantization, delay and saturation errors. We show how to construct an invariant set of the error dynamics using a linear program. Our method enables the design of distributed/localized controllers and delayed communication channels with linear programming, enhancing both implementation and design scalability. the use of l∞ signal/l1 operator norm appears essential to capture communication error and facilitate scalable computation. We also analyze the suboptimality gap and the feasibility condition of the proposed linear program. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： networked control systems

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distributed optimization for multi-task learning via nuclear-norm approximation 5

Distributed optimization for multi-task learning via nuclear...

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

作者： Mateos-Núñez, David Cortés, Jorge Department of Mechanical and Aerospace Engineering University of California San Diego United States

We exploit a variational characterization of the nuclear norm to extend the framework of distributed convex optimization to machine learning problems that focus on the sparsity of the aggregate solution. We propose two distributed dynamics that can be used for multi-task feature learning and recommender systems in scenarios with more tasks or users than features. Our first dynamics tackles a convex minimization on local decision variables subject to agreement on a set of local auxiliary matrices. Our second dynamics employs a saddle-point reformulation through Fenchel conjugation of quadratic forms, avoiding the computation of the inverse of the local matrices. We show the correctness of both coordination algorithms using a general analytical framework developed in our previous work that combines distributed optimization and subgradient methods for saddle-point problems. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Convex optimization

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distributed coordinated control of large-scale nonlinear networks 5

Distributed coordinated control of large-scale nonlinear net...

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

作者： Kundu, Soumya Anghel, Marian Los Alamos National Laboratory Los AlamosNM87544 United States Los Alamos National Laboratory Los AlamosNM87544 United States

We provide a distributed coordinated approach to the stability analysis and control design of large-scale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed into a network of interacting subsystems and the stability of the system is analyzed through a comparison system. However finding such comparison system is not trivial. In this work, we propose a sum-of-squares based completely decentralized approach for computing the comparison systems for networks of nonlinear systems. Moreover, based on the comparison systems, we introduce a distributed optimal control strategy in which the individual subsystems (agents) coordinate with their immediate neighbors to design local control policies that can exponentially stabilize the full system under initial disturbances. We illustrate the control algorithm on a network of interacting Van der Pol systems. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear dynamical systems

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Stability analysis of discrete-time linear systems with unbounded stochastic delays 5

Stability analysis of discrete-time linear systems with unbo...

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

作者： Demirel, Burak Feyzmahdavian, Hamid Reza Ghadimi, Euhanna Johansson, Mikael Department of Automatic Control School of Electrical Engineering KTH Royal Institute of Technology StockholmSE-10044 Sweden

this paper investigates the stability of discrete-time linear systems with stochastic delays. We assume that delays are modeled as random variables, which take values in integers with a certain probability. For the scalar case, we provide an analytical bound on the probability to guarantee the stability of linear systems. In the vector case, we derive a linear matrix inequality condition to compute the probability for ensuring the stability of closed-loop systems. As a special case, we also determine the step size of gradient algorithms with stochastic delays in the unconstrained quadratic programming to guarantee convergence to the optimal solution. Numerical examples are provided to show the effectiveness of the proposed analysis techniques. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： networked control systems

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