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Vibration reduction for structures: distributed schemes over directed graphs

JOURNAL OF VIBRATION AND CONTROL 2019年第14期25卷 2025-2042页

作者： Zhang, Xueji Pipeleers, Goele Hengster-Movric, Kristian Faria, Cassio Katholieke Univ Leuven Dept Mech Engn Noise & Vibrat Res Grp Leuven Belgium Katholieke Univ Leuven Dept Mech Engn MECO Res Team Leuven Belgium Flanders Make DMMS Lab Leuven Belgium Czech Tech Univ Fac Elect Engn Dept Control Engn Prague Czech Republic Siemens Ind Software NV Leuven Belgium

This paper aims to bridge the gap between control engineering and vibration engineering. We developed three distributed schemes over directed communication graph topology, specifically for vibration reduction of flexible structures. Under the distributed schemes, vibrations are attenuated through agents consisting of distributed observers and controllers. Compared to traditional methods, the developed approaches can reduce the communication overhead and the computational complexity when a large number of actuators and sensors are deployed. Moreover, two of the developed schemes enjoy the flexibility in reconfiguration of communication graph topology and integration of redundant agents. Furthermore, numerical simulations are presented to demonstrate the effectiveness of the developed schemes in vibration reduction of flexible structures.

关键词： Distributed estimation consensus algorithms vibration reduction networked control systems

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Low-Complexity Nanosensor Networking Through Spike-Encoded Signaling

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IEEE INTERNET OF THINGS JOURNAL 2016年第1期3卷 49-58页

作者： Peper, Ferdinand Leibnitz, Kenji Teramae, Jun-nosuke Shimokawa, Tetsuya Wakamiya, Naoki Natl Inst Informat & Commun Technol NICT Ctr Informat & Neural Networks CiNet Suita Osaka 5650871 Japan Osaka Univ 2-2 Yamadaoka Suita Osaka 5650871 Japan Osaka Univ Grad Sch Informat Sci & Technol Ctr Informat & Neural Networks CiNet 2-2 Yamadaoka Suita Osaka 5650871 Japan

The Internet of Nano-Things will employ wireless sensor nodes that are not only extremely small in size and large in number but also severely restricted in their power supply. While a large part of the design of such networks will rely on the engineering of physical aspects, such as developing technology for efficient energy harvesting, sensing, and communication, a significant role will also be played by the algorithms underlying the operation of nodes to ensure that optimal use is made of the limited supply of energy. This paper discusses concepts that will facilitate the design of such algorithms, such as spike-based encoding of signals and data aggregation through gossiping. We propose a method to extract information from a sensor network using nonpacket spike-based communication with local interactions between nodes. Rather than gathering sensor values from each individual node and sending them to a central destination node, measurements from the nodes are processed through the interactions between nodes, while diffusing in the network, to obtain an integrated value characteristic for all nodes' measurements.

关键词： consensus algorithms gossiping protocols nanotechnology neural spiking wireless sensor networks

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Distributed methods for synchronization of orthogonal matrices over graphs

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AUTOMATICA 2017年 80卷 243-252页

作者： Thunberg, Johan Bernard, Florian Goncalves, Jorge Univ Luxembourg Luxembourg Ctr Syst Biomed Esch Sur Alzette Luxembourg Ctr Hosp Luxembourg Luxembourg Luxembourg Univ Cambridge Dept Engn Control Grp Cambridge England

This paper addresses the problem of synchronizing orthogonal matrices over directed graphs. For synchronized transformations (or matrices), composite transformations over loops equal the identity. We formulate the synchronization problem as a least-squares optimization problem with nonlinear constraints. The synchronization problem appears as one of the key components in applications ranging from 3D-localization to image registration. The main contributions of this work can be summarized as the introduction of two novel algorithms;one for symmetric graphs and one for graphs that are possibly asymmetric. Under general conditions, the former has guaranteed convergence to the solution of a spectral relaxation to the synchronization problem. The latter is stable for small step sizes when the graph is quasi-strongly connected. The proposed methods are verified in numerical simulations. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Multi-agent systems Distributed optimization Sensor networks consensus algorithms Robust estimation Measurement and instrumentation

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k-Dimensional Agreement in Multiagent Systems

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2024年第12期69卷 8978-8985页

作者： Bianchin, Gianluca Vaquero, Miguel Cortes, Jorge Dall'Anese, Emiliano Univ Louvain ICTEAM Inst B-1348 Ottignies Louvain La Neuv Belgium Univ Louvain Dept Math Engn B-1348 Ottignies Louvain La Neuv Belgium IE Univ Sch Sci & Technol Segovia 40003 Spain Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA Boston Univ Dept Elect & Comp Engn Boston MA 02215 USA

Given a network of agents, we study the problem of designing a distributed algorithm that computes k independent weighted means of the network's initial conditions (namely, the agents agree on a k-dimensional space). Akin to average consensus, this problem finds applications in distributed computing and sensing, where agents seek to simultaneously evaluate k independent functions at a common point by running a single coordination algorithm. We show that linear algorithms can agree on quantities that are oblique projections of the vector of initial conditions, and we provide techniques to design protocols that are compatible with a pre-specified communication graph. More broadly, our results show that a single agreement algorithm can solve k consensus problems simultaneously at a fraction of the complexity of classical approaches but, in general, it requires higher network connectivity.

关键词： Protocols Vectors Sensors Robot sensing systems consensus algorithm Computational modeling Multi-agent systems consensus algorithms decentralized control graph theory linear time-invariant (LTI) systems multi-agent systems

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Cooperative Path Following of Multiple Multirotors Over Time-Varying Networks

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2015年第3期12卷 945-957页

作者： Cichella, Venanzio Kaminer, Isaac Dobrokhodov, Vladimir Xargay, Enric Choe, Ronald Hovakimyan, Naira Aguiar, A. Pedro Pascoal, Antonio M. Univ Illinois Coordinated Sci Lab Urbana IL 61801 USA Naval Postgrad Sch Dept Mech & Aerosp Engn Monterey CA 93943 USA Univ Porto FEUP Dept Elect & Comp Engn Fac Engn P-4099002 Oporto Portugal Univ Lisbon ISR IST P-1649004 Lisbon Portugal

This paper addresses the problem of time-coordination of a team of cooperating multirotor unmanned aerial vehicles that exchange information over a supporting time-varying network. A distributed control law is developed to ensure that the vehicles meet the desired temporal assignments of the mission, while flying along predefined collision-free paths, even in the presence of faulty communication networks, temporary link losses, and switching topologies. In this paper, the coordination task is solved by reaching consensus on a suitably defined coordination state. Conditions are derived under which the coordination errors converge to a neighborhood of zero. Simulation and flight test results are presented to validate the theoretical findings. Note to Practitioners-This paper presents an approach which enables a fleet of multirotor UAVs to follow a set of desired trajectories and coordinate along them, thus satisfying specific spatial and temporal assignments. The proposed solution can be employed in applications in which multiple vehicles are tasked to execute cooperative, collision-free maneuvers, and accomplish a common goal in a safely manner. An example is sequential monitoring, in which the UAVs have to visit and monitor a set of points of interest, while maintaining a desired temporal separation between each other. In this paper, we also simulate a scenario in which the vehicles, positioned in a square room, are required to exchange position with each other. It is shown that the proposed control algorithm not only ensures that the UAVs arrive at the final destinations at the same time, but also guarantees safety, i.e., the vehicles avoid collision with each other at all times.

关键词： consensus algorithms networked systems time-coordinated path following

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Distributed optimal control of multiple systems

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INTERNATIONAL JOURNAL OF CONTROL 2010年第10期83卷 2067-2079页

作者： Dong, Wenjie Univ Texas Pan Amer Dept Elect Engn Edinburg TX 78539 USA

This article considers distributed optimal control of multiple linear systems. Distributed approximately optimal controllers are proposed for each system with the aid of communications between systems. The proposed controllers make the states of the closed-loop systems exponentially converge to the states of the closed-loop systems with the centralised optimal controllers if the communication digraph is strongly connected. If the communication digraph is switching and there are communication delays, the proposed controllers also make the states of the closed-loop systems exponentially converge to the states of the closed-loop systems with the centralised optimal controllers. Simulation results show effectiveness of the proposed controllers.

关键词： optimal control distributed control linear systems consensus algorithms cooperative control

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Redefining food safety traceability system through blockchain: findings, challenges and open issues

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MULTIMEDIA TOOLS AND APPLICATIONS 2023年第14期82卷 21243-21277页

作者： Singh, Ashish Gutub, Adnan Nayyar, Anand Khan, Muhammad Khurram KIIT Deemed Univ Sch Comp Engn Bhubaneswar 751024 Odisha India Umm Al Qura Univ Comp Engn Dept Mecca Saudi Arabia Duy Tan Univ Sch Comp Sci Da Nang Vietnam King Saud Univ Coll Comp & Informat Sci Ctr Excellence Informat Assurance Riyadh 11653 Saudi Arabia

In the last few decades, there has been an increase in food safety and traceability issues. To prevent accidents and misconduct, it became essential to establish Food Safety Traceability System (FSTS) to trace the food from producer to consumer. The traceability systems can help track food in supply chains from farms to retail. Numerous technologies such as Radio Frequency Identification (RFID), sensor networks, and data mining have been integrated into traditional food supply chain systems to remove unsafe food products from the chain. But, these are not adequate for the current supply chain market. The emerging technology of blockchain can overcome safety and tracking issues. This can be possible with the help of blockchain features like transparent, decentralized, distributed, and immutable. Most of the previous works missed the discussion of the systematic process and technology involved in implementing the FSTS using blockchain. In this paper, we have discussed an organized state of research of the existing FSTS using blockchain. This survey paper aims to outline a detailed analysis of blockchain technology, FSTS using blockchain, consensus algorithms, security attacks, and solutions. Several survey papers and solutions based on blockchain are included in this research paper. Also, this work discusses some of the open research issues related to FSTS.

关键词： Food safety traceability systems Blockchain technology consensus algorithms Security and privacy issues

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How to choose a timing model

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IEEE TRANSACTIONS ON PARALLEL AND DISTRIBUTED SYSTEMS 2008年第10期19卷 1367-1380页

作者： Keidar, Idit Shraer, Alexander Technion Israel Inst Technol Dept Elect Engn IL-32000 Haifa Israel

When employing a consensus algorithm for state machine replication, should one optimize for the case that all communication links are usually timely or for fewer timely links? Does optimizing a protocol for better message complexity hamper the time complexity? In this paper, we investigate these types of questions using mathematical analysis as well as experiments over PlanetLab (WAN) and a LAN. We present a new and efficient leader-based consensus protocol that has O(n) stable-state message complexity (in a system with n processes) and requires only O(n) links to be timely at stable times. We compare this protocol with several previously suggested protocols. Our results show that a protocol that requires fewer timely links can achieve better performance, even if it sends fewer messages.

关键词： synchrony assumptions Eventual Synchrony failure detectors consensus algorithms FT middleware

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Dynamic controllers for column synchronization of rotation matrices: A QR-factorization approach

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AUTOMATICA 2018年 93卷 20-25页

作者： Thunberg, Johan Markdahl, Johan Goncalves, Jorge Univ Luxembourg Luxembourg Ctr Syst Biomed 6 Ave Swing L-4367 Belvaux Luxembourg

In the multi-agent systems setting, this paper addresses continuous-time distributed synchronization of columns of rotation matrices. More precisely, k specific columns shall be synchronized and only the corresponding k columns of the relative rotations between the agents are assumed to be available for the control design. When one specific column is considered, the problem is equivalent to synchronization on the (d - 1)-dimensional unit sphere and when all the columns are considered, the problem is equivalent to synchronization on SO(d). We design dynamic control laws for these synchronization problems. The control laws are based on the introduction of auxiliary variables in combination with a QR-factorization approach. The benefit of this QR-factorization approach is that we can decouple the dynamics for the k columns from the remaining d k ones. Under the control scheme, the closed loop system achieves almost global convergence to synchronization for quasi-strong interaction graph topologies. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Multi-agent systems Attitude synchronization consensus algorithms Sensor networks Network topologies

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Network Topology and Communication-Computation Tradeoffs in Decentralized Optimization

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PROCEEDINGS OF THE IEEE 2018年第5期106卷 953-976页

作者： Nedic, Angelia Olshevsky, Alex Rabbat, Michael G. Arizona State Univ Sch Elect Comp & Energy Engn Tempe AZ 85281 USA Boston Univ Dept Elect & Comp Engn Boston MA 02215 USA Facebook Artificial Intelligence Res Montreal PQ Canada McGill Univ Dept Elect & Comp Engn Montreal PQ H3A 0G4 Canada

In decentralized optimization, nodes cooperate to minimize an overall objective function that is the sum (or average) of per-node private objective functions. algorithms interleave local computations with communication among all or a subset of the nodes. Motivated by a variety of applications decentralized estimation in sensor networks, fitting models to massive data sets, and decentralized control of multirobot systems, to name a few significant advances have been made toward the development of robust, practical algorithms with theoretical performance guarantees. This paper presents an overview of recent work in this area. In general, rates of convergence depend not only on the number of nodes involved and the desired level of accuracy, but also on the structure and nature of the network over which nodes communicate (e.g., whether links are directed or undirected, static or time varying). We survey the state-of-the-art algorithms and their analyses tailored to these different scenarios, highlighting the role of the network topology.

关键词： consensus algorithms distributed optimization distributed averaging gossip algorithms multiagent systems

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