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H\infty TYPE CONTROL FOR MULTI-AGENT SYSTEMS SUBJECT TO STOCHASTIC STATE DEPENDENT NOISE*

SIAM JOURNAL ON CONTROL AND OPTIMIZATION 2023年第2期61卷 904-923页

作者： Stoica, Adrian-Mihail Univ Politehn Bucuresti Fac Aerosp Engn Str Polizu 1 Bucharest 011063 Romania

The paper presents an H\infty state feedback control problem for multi-agent systems whose members are modeled by identical linear stochastic models with state dependent noise. A solution for the centralized H\infty controller is firstly derived in terms of the stabilizing solutions of two algebraic Riccati equations. Further, a distributed state feedback controller is determined aiming to ensure the exponential stability in mean square of the multi-agent system and to reduce the H\infty performance degradation with respect to the centralized controller. The theoretical results are illustrated by two numerical examples.

关键词： Key words multi-agent systems stochastic models with multiplicative noise H infty type control centralized controller distributed controller

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Load migration in distributed softwarized network controllers

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INTERNATIONAL JOURNAL OF NETWORK MANAGEMENT 2022年第6期32卷

作者： Zadeh, Sepehr Abbasi Zandi, Farid Beiruti, Mohammad Amin Ganjali, Yashar Univ Toronto Dept Comp Sci Toronto ON Canada

distributed control solutions were introduced to address controller reliability and scalability issues in software-defined networking (SDN). The dynamic nature of network traffic can lead to load imbalance among controller instances. A highly loaded controller instance can be slow in responding to datapath queries and can slow down the entire control platform, as state synchronization and consensus among controller instances are performed in a cooperative manner. In this paper, we present Efficient, Resilient, Consistent (ERC), a novel protocol for migrating the load of a given switch from a controller instance to a different instance. Our protocol has three distinguishing properties compared with prior works in this area: (1) It is resilient to failures during migration, (2) it maintains consistency among all controller instances, and nevertheless, (3) it is more efficient than existing load migration protocols. Compared with state-of-the-art, ERC reduces the migration time by 23-50% depending on network load. The implicit assumed use case in the design of previous load migration algorithms (including ERC) has been the load balancing scenario. However, as this is not the only possible case, by maintaining the desirable properties of ERC, we introduce four variants of our protocol that can add to the versatility of the load migration handling. This is achieved by considering variations of role exchange between controller instances, which gives us an advantage over the fixed master-slave exchange that vanilla ERC or previous work support. We perform an extensive set of experiments to examine the impact of variable network parameters on the performance metrics of interest and to show the effectiveness of the ERC family of protocols in load migration.

关键词： distributed controller load migration migration protocol network controller management SDN

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Underwater robot coordination using a bio-inspired electrocommunication system

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BIOINSPIRATION & BIOMIMETICS 2022年第5期17卷 056005-056005页

作者： Zhou, Yang Wang, Wei Zhang, Han Zheng, Xingwen Li, Liang Wang, Chen Xu, Gang Xie, Guangming Shenzhen Univ Coll Mechatron & Control Engn Shenzhen 518060 Peoples R China Peking Univ Coll Engn Intelligent Biomimet Design Lab State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA MIT Dept Urban Studies & Planning Cambridge MA 02139 USA Tsinghua Univ Dept Mech Engn Beijing 100084 Peoples R China Max Planck Inst Anim Behav Dept Collect Behav Constance Germany Univ Konstanz Ctr Adv Study Collect Behav Constance Germany Univ Konstanz Dept Biol Constance Germany Peking Univ Natl Engn Res Ctr Software Engn Beijing 100871 Peoples R China Southern Marine Sci & Engn Guangdong Lab Guangzho Guangzhou 511458 Peoples R China

Due to the challenging communication and control systems, few underwater multi-robot coordination systems are currently developed. In nature, weakly electric fish can organize their collective activities using electrocommunication in turbid water. Inspired by this communication mechanism, we developed an artificial electrocommunication system for underwater robots in our previous work. In this study, we coordinate a group of underwater robots using this bio-inspired electrocommunication. We first design a time division multiple access (TDMA) network protocol for electrocommunication to avoid communication conflicts during multi-robot coordination. Then, we revise a distributed controller to coordinate a group of underwater robots. The distributed controller on each robot generates the required controls based on adjacent states obtained through electrocommunication. A central pattern generator (CPG) controller is designed to adjust the speed of individuals according to distributed control law. Simulations and experimental results show that a group of underwater robots is able to achieve coordination with the developed electrocommunication and control systems.

关键词： electrocommunication distributed controller network protocol robot coordination underwater robots

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Towards a Novel Vehicular Ad Hoc Networks Based on SDN 21st

Towards a Novel Vehicular Ad Hoc Networks Based on SDN

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21st International Conference on Computational Science and Its Applications (ICCSA)

作者： Guesmi, Houda Kalghoum, Anwar Guesmi, Ramzi Saidane, Leila Azouz Natl Sch Comp Sci CRISTAL LAB Manouba Tunisia

ISBN: (纸本)9783030866532;9783030866525

Driven by long traffic jams and numerous road accidents, vehicle networks (Vehicular Ad hoc NETwork, VANET) have emerged to make the journey more pleasant, the road safer and the transport system more efficient. Today's vehicle network architectures suffer from scalability issues as it is challenging to deploy services on a large scale. These architectures are rigid, difficult to manage and suffer from a lack of flexibility and adaptability due to vehicular technologies' heterogeneity. Over the past few years, the emerging paradigm of Software-Defined Networking (SDN) network architecture has become one of the most important technologies for managing large-scale networks such as vehicle networks. By the first vision and under the SDN paradigm umbrella, we propose a new VANET network architecture based on the SDN paradigm named "SDN-based vehicular ad hoc networks" (SDN-VANET). Through our simulation, we show that in addition to the flexibility and fine programmability brought by the SDN paradigm, the latter opens the way to the development of efficient network control functions.

关键词： VANET Software Defined Networking SDN openFlow distributed controller

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LBFT: Load Balancing and Fault Tolerance in distributed controllers

LBFT: Load Balancing and Fault Tolerance in distributed cont...

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International Symposium on Networks, Computers and Communications (ISNCC)

作者： Mahjoubi, Ayeh Zeynalpour, Omid Eslami, Benyamin Yazdani, Nasser Univ Isfahan Dept Comp Engn Esfahan Iran Univ Tehran Dept Elect & Comp Engn Tehran Iran

ISBN: (纸本)9781728112442

Software Defined Networking (SDN) at first was introduced with only one single controller. However, this causes serious problems such as scalability, availability and single point of failure. To overcome these problems, researchers have introduced distributed controllers as an initial solution. Nevertheless, we still have to deal with load distribution and fault issues among multiple controllers. In this paper, we propose a load balancing and Fault tolerance (LBFT) method for distributed controllers by using group migration of switches. The proposed method detects the failure of the master controller and try to migrate its connected switches to slave controllers. Meanwhile, it also tries to balance the loads among controllers. Our experimental results show that our approach not only can balance the loads among controllers, but also can re-optimize the overall throughput in short amount of time after failure. Furthermore, the failover process takes around 50 ms. Our method prolongs a little end to end RTT, and also there is no packet loss. Our proposed method can be implemented and run as a module on top of any controller.

关键词： SDN distributed controller Load balancing Fault tolerance Switch migration

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ON distributed SYMBOLIC CONTROL OF INTERCONNECTED SYSTEMS UNDER PERSISTENCY SPECIFICATIONS

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INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE 2020年第4期30卷 629-639页

作者： Apaza-Perez, W. Alejandro Combastel, Christophe Zolghadri, Alt Univ Bordeaux CNRS IMS Lab 351 Cours Liberat F-33405 Talence France

This paper presents an abstraction-based technique to solve the problem of distributed controller design enforcing persistency specifications for interconnected systems. For each subsystem, controller synthesis is based on local distributed sensor information from other subsystems. An effective method is presented for quantification of such partial information in an abstraction in terms of level sets of Lyapunov-like ranking functions. The results are illustrated on a laboratory hydraulic system.

关键词： symbolic controller synthesis distributed controller interconnected system

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Optimal controller Design with Communication Delay for Solid Oxide Fuel Cell

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ASIAN JOURNAL OF CONTROL 2020年第2期22卷 677-686页

作者： Alipouri, Yousef Alipour, Hasan Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2V4 Canada Islamic Azad Univ Shabestar Branch Dept Elect Engn Shabestar Iran

Development of distributed control algorithms has attracted significant attention for control of large-scale processes. In distributed control systems, there are signal transmissions between local subsystems. One subsystem does not have complete knowledge of the whole system and interactions between subsystems are not completely considered. Communication delay also places limitations on achievable best performance. In this paper, considering communication delay, a distributed method is proposed to design an optimal controller using a discrete linear model. The advantage of the proposed method is in taking communication delay into account and being robust against subsystem failure. The proposed approach has been applied on a solid oxide fuel cell, which is extremely nonlinear and has a huge number of state variables. The results show the advantages and applicability of the proposed method.

关键词： distributed controller discrete ARMAX model solid oxide fuel cell linear optimal control

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distributed multilane merging for connected autonomous vehicle platooning

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Science China(Information Sciences) 2021年第11期64卷 171-186页

作者： Jingkai WU Yafei WANG Zhaokun SHEN Lin WANG Haiping DU Chengliang YIN School of Mechanical Engineering Shanghai Jiao Tong University School of Electrical and Electronics Engineering Shanghai Jiao Tong University School of Electrical Computer and Telecommunications Engineering University of Wollongong

In the context of coordination of connected autonomous vehicles(CAVs), the platooning operation is a promising application. The formulation of a single stream of CAVs is conducive to traffic efficiency and merging operations extend the benefits for multilane road users. However, the problem of simultaneous merging and platooning lacks comprehensive investigation. A solution is formulated in this paper through a new scheme that considers inter-vehicle safety distance constraints and distributed deployment utilizing local inter-vehicle information exchanges. A distributed consensus-based controller synthesized with a collision avoidance design is developed to direct the CAVs to maintain the velocity and spacing required to avoid intervehicle collisions. Furthermore, a framework fusing an agent motion model with vehicle controllers based on a dynamics model that facilitates both longitudinal and lateral controls is proposed, contributing to a cross-model planning-tracking controller. Theoretical proof of asymptotic stability of the proposed controller and its collision avoidance capability are also elaborated. The merging and platooning function was tested in a hardware-in-the-loop(Hi L) experiment, demonstrating the precise tracking performance and comparable merging responses to a typical multiagent system. In comparison with trajectory-based merging algorithms,the proposed framework is able to achieve finer stepwise tracking results without centralized coordination or predefined trajectories.

关键词： platoon merging connected autonomous vehicle multiagent system distributed controller

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A comprehensive survey of load balancing techniques in software-defined network

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JOURNAL OF NETWORK AND COMPUTER APPLICATIONS 2021年 174卷 102856-102856页

作者： Hamdan, Mosab Hassan, Entisar Abdelaziz, Ahmed Elhigazi, Abdallah Mohammed, Bushra Khan, Suleman Vasilakos, Athanasios V. Marsono, M. N. Univ Teknol Malaysia Fac Engn Sch Elect Engn Johor Baharu Malaysia Univ Teknol Malaysia Fac Engn Sch Comp Johor Baharu Malaysia Future Univ Fac Comp Sci Khartoum Sudan Northumbria Univ Dept Comp & Informat Sci Newcastle Upon Tyne NE1 8ST Tyne & Wear England Univ Technol Sydney Sch Elect & Data Engn Sydney NSW 2007 Australia

A software-defined network (SDN) separates the network control plane from the data forwarding plane. SDN has shown significant benefits in many ways compared to conventional non-SDN networks. However, traffic distribution in SDN impacts efficiency and raises many other challenges. For instance, uneven load distribution in the SDN significantly impacts the network performance. Hence, several SDN load balancing (LB) techniques have been introduced to improve the efficiency of SDN. In this article, we provide a thematic taxonomy of LB in SDN, considering several parameters from the past technical studies such as the objectives of LB, data plane LB techniques, control plane LB techniques, other aspects of data plane/control plane LB as well as the performance metrics for LB techniques. Furthermore, useful insights on LB and a comparative analysis of various promising SDN LB techniques are also included in the survey. Finally, existing challenges and future direction on SDN LB techniques are highlighted.

关键词： Load balancing Software-defined network Multiple controller distributed controller

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Fuzzy distributed Control of the Forced Burgers-Fisher Equation under Periodic Boundary Conditions 4

Fuzzy Distributed Control of the Forced Burgers-Fisher Equat...

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4th International Conference on Control, Automation and Diagnosis (ICCAD)

作者： Raab, Sadia Habbi, Hacene Maidi, Ahmed Belharet, Karim MHamed Bougara Univ Boumerdes Appl Automat Lab Boumerdes Algeria Univ Tizi Ouzou Design & Control Prod Syst Lab FGEI Tizi Ouzou Algeria Ecole Ingenieur Lab PRISME HEI Campus Ctr F-36000 Chateauroux France

ISBN: (纸本)9781728169996

This paper presents a novel control design methodology for a class of distributed parameter systems (DPSs) described by the nonlinear Burgers-Fisher equation model. The proposed approach is built upon a fuzzy Burgers-Fisher equation model of T-S type which is derived to approximate the nonlinear DPS dynamics over the spatio-temporal dimension. Relying on the geometric control theory, a complete control design procedure is developed based on the constructed fuzzy Burgers-Fisher equation model with distributed control. The resulting fuzzy distributed controller is infinite dimensional showing good stabilizing effect and performs considerably well within the specified operating conditions.

关键词： Burgers-Fisher equation fuzzy model distributed controller geometric control stabilization

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