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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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distributed event-triggered consensus of multi-agent systems with measurement noise and guaranteed interval bounds 8th

Distributed event-triggered consensus of multi-agent systems...

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

作者： Hardouin, Guillaume Bertrand, Sylvain Piet-Lahanier, Helene Univ Paris Saclay DTIS ONERA St Aubin France

A distributed event-triggered method is developed to reach the consensus with bounded-error measurements. the approach is derived from an initial event-triggered consensus scheme developed in Seyboth et al. (2013). the strategies are presented for single and double-integrator models, considering a fully connected graph. Proofs of convergence to a ball centered at the average consensus value are given. the presence of Zeno behavior is excluded. Guaranteed bounds for consensus are characterized. Results are illustrated with numerical applications. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： multi-agent systems consensus event-triggered control distributed measurement noise bounded-error measurement guaranteed enclosure

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Cooperative Output Regulation for Multi-Agent systems with EDMD Leader Approximation 8th

Cooperative Output Regulation for Multi-Agent Systems with E...

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

作者： Galarza-Jimenez, F. Tellez-Castro, D. Sofrony, J. Mojica-Nava, E. Univ Nacl Colombia Bogota Colombia

this paper presents a distributed output regulation algorithm for the leader-follower heterogeneous multi-agent system with unknown leader dynamics. the unknown nonlinear dynamics of the leader agent are reconstructed based on a data-driven transformation that lifts the nonlinear dynamics to a linear space that approximates it. An adaptive distributed observer algorithm is designed to estimate the leader states and its linear model approximation for each follower agent, since it is considered that the leader communicates only to a subset of followers. To design the output synchronization protocol, a local state feedback control is developed for each agent. the proposed algorithm is validated through simulation studies. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Output synchronization distributed observer unknown leader EDMD

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distributed LQR-based Suboptimal control for Coupled Linear systems 8th

Distributed LQR-based Suboptimal Control for Coupled Linear ...

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

作者： Vlahakis, Eleftherios E. Dritsas, Leonidas D. Halikias, George D. City Univ London Sch Math Comp Sci & Engn London England ASPETE Dept Elect & Elect Engn Educators Sch Pedag & Technol Educ Athens Greece

A well-established distributed LQR method for decoupled systems is extended to the dynamically coupled case where the open-loop systems are dynamically dependent. First, a fully centralized controller is designed which is subsequently substituted by a distributed state-feedback gain with sparse structure. the control scheme is obtained by optimizing an LQR performance index with a tuning parameter utilized to emphasize/de-emphasize relative state difference between interconnected systems. Overall stability is guaranteed via a simple test applied to a convex combination of Hurwitz matrices, the validity of which leads to stable global operation for a class of interconnection schemes. It is also shown that the suboptimality of the method can be assessed by measuring a certain distance between two positive definite matrices which can be obtained by solving two Lyapunov equations. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： distributed LQR coupled linear systems multi-agent control networked control

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An Application of Nested control Synthesis for Wind Farms 8th

An Application of Nested Control Synthesis for Wind Farms

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

作者： Buccafusca, Lucas Jansch-Porto, Joao P. Dullerud, Geir E. Beck, Carolyn L. Univ Illinois Dept Ind & Enterprise Syst Engn Champaign IL 61820 USA Univ Illinois Coordinated Sci Lab Champaign IL 61820 USA Univ Illinois Dept Mech Sci & Engn Champaign IL 61820 USA

In this paper, we apply new nested-system synthesis methods for decentralized control to wind turbine arrays. We extend single-turbine modeling and analysis to incorporate turbine coupling caused by wake turbulence effects. Simulation results are provided for validation. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Cooperative systems distributed control systems Robust control Wind Farms

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Deep reinforcement learning for scheduling in large-scale networked control systems 8th

Deep reinforcement learning for scheduling in large-scale ne...

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

作者： Redder, Adrian Ramaswamy, Arunselvan Quevedo, Daniel E. Paderborn Univ Fac Comp Sci Elect Engn & Math Paderborn Germany

this work considers the problem of control and resource allocation in networked systems. To this end, we present DIRA a Deep reinforcement learning based Iterative Resource Allocation algorithm, which is scalable and control-aware. Our algorithm is tailored towards large-scale problems where control and scheduling need to act jointly to optimize performance. DIRA can be used to schedule general time-domain optimization based controllers. In the present work, we focus on control designs based on suitably adapted linear quadratic regulators. We apply our algorithm to networked systems with correlated fading communication channels. Our simulations show that DIRA scales well to large scheduling problems. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： networked control systems deep reinforcement learning large-scale systems resource scheduling stochastic control

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A distributed Primal Decomposition Scheme for Nonconvex Optimization 8th

A Distributed Primal Decomposition Scheme for Nonconvex Opti...

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

作者： Camisa, Andrea Notarstefano, Giuseppe Univ Bologna Dept Elect Elect & Informat Engn Bologna Italy

In this paper, we deal with large-scale nonconvex optimization problems, typically arising in distributed nonlinear optimal control, that must be solved by agents in a network. Each agent is equipped with a local cost function, depending only on a local variable. the variables must satisfy private nonconvex constraints and global coupling constraints. We propose a distributed algorithm for the fast computation of a feasible solution of the nonconvex problem in finite time, through a distributed primal decomposition framework. the method exploits the solution of a convexified version of the problem, with restricted coupling constraints, to compute a feasible solution of the original problem. Numerical computations corroborate the results. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： distributed optimization and MPC multi-agent systems

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Stability of Evolving systems from a Graph theoretic Perspective 8th

Stability of Evolving Systems from a Graph Theoretic Perspec...

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

作者： Gehlot, Vinod P. Balas, Mark J. Univ Tennessee Space Inst Tullahoma TN 37388 USA

A graph elegantly describes the connection topology in a networked system of autonomous agents and, dynamic stability is an essential consideration in the successful design of formations. In this paper, we explore the graph Laplacian and its role in the stability of relative error dynamics of formations. We then use the graph Laplacian to investigate the dynamic stability in the presence of reciprocal connections between agents. Restoring instabilities can be challenging in multi-agent systems;we introduce the adaptive-key-component controller as a practical means to restore stability in graph-based networks. throughout the paper, we use several examples to illustrate stability issues that can arise from connection geometries. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Stability analysis Stability criteria Graph theory distributed control Adaptive control Cooperative control Autonomous mobile robots

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Online model composition for networked discrete-event systems 8th

Online model composition for networked discrete-event system...

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

作者： Zgorzelski, Markus Jan Lunze Ruhr Univ Bochum Inst Automat & Comp Control Univ Str 150 D-150 Bochum Germany

networked discrete-event systems consist of physically coupled subsystems that utilise a digital communication network for solving their current tasks. Each subsystem has to be steered from its current state into a situation-dependent target state. Due to the physical couplings among the subsystems, certain state transitions have to be executed synchronously with other subsystems to reach the local target states. To satisfy all local tasks, the subsystems have to find a deadlock-free order of the synchronous state transitions by applying global model information. However, in the networked discrete-event system there does not exist any coordinator and the global model information is distributed among the subsystems. Hence, the subsystems have to exchange model information and to compose it online to find the deadlock-free order of synchronous state transitions. this paper proposes an online model composition algorithm based on the A*-Algorithm that determines the necessary local model information to be communicated and composed by the subsystems. the method is demonstrated by an example. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： networked discrete-event systems model composition A*-Algorithm

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Output Regulation of a networked Dynamic System 8th

Output Regulation of a Networked Dynamic System

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

作者： Zhou, Tong Tsinghua Univ Dept Automat Beijing 100084 Peoples R China

this paper investigates conditions for the existence of a controller such that a networked system can track a prescribed type of signals and/or reduce influences of a certain type of disturbances, in which the system matrices of each subsystem are described by an LFT of its first principe parameters. Results on the controllability/observability of networked systems have been extended. Some explicit relations have been established between the feasibility of signal tracking/disturbance rejection and subsystem parameters/connections. A rank based condition is established in which the associated matrix affinely depends on subsystem parameters and connections. An attractive property of this condition is that all the involved numerical computations are performed on each subsystem independently, which makes the condition verification scalable for large scale networked systems. In addition, the explicit expression for the dependence of the condition associated matrix on subsystem parameters and connections may be helpful in system topology design and parameter selections. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： disturbance rejection first principle parameter internal model principe LFT networked system signal tracking output regulation

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Second Order Consensus for Leader-follower Multi-agent systems with Prescribed Performance 8th

Second Order Consensus for Leader-follower Multi-agent Syste...

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

作者： Chen, Fei Dimarogonas, Dimos, V KTH Royal Inst Technol Div Decis & Control Syst SE-10044 Stockholm Sweden

the problem of distributed control for second order leader-follower multi-agent systems with prescribed performance guarantees is investigated in this paper. Leader-follower is meant in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system can achieve consensus within certain prescribed performance transient bounds. Under the assumption of tree graphs, we propose a distributed control law based on a backstepping approach for the group of leaders to steer the entire system achieving consensus within the prescribed performance bounds. Finally, a simulation example is given to verify the results. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Leader-follower control consensus multi-agent systems prescribed performance control

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