This paper proposes a self-organising networked controller for disturbance attenuation in multi-agent systems. A disturbance affecting a single agent has some effect on all neighbouring agents through the communicatio...
详细信息
This paper proposes a self-organising networked controller for disturbance attenuation in multi-agent systems. A disturbance affecting a single agent has some effect on all neighbouring agents through the communication network. To avoid large disturbance effects, the proposed self-organising controller switches off the communication whenever the effect of the disturbance on the corresponding agent exceeds a given bound. As a consequence, the structure of the networked controller is adjusted to the current disturbance. It is proved that the proposed controller bounds the effect of arbitrary disturbances on all undisturbed agents. The results are illustrated by their application to a robot formation.
In this paper we consider optimal parameter estimation with a constrained packet transmission rate. Due to the limited battery power and the traffic congestion over a large sensor network, each sensor is required to d...
详细信息
ISBN:
(纸本)9781479978878
In this paper we consider optimal parameter estimation with a constrained packet transmission rate. Due to the limited battery power and the traffic congestion over a large sensor network, each sensor is required to discard some packets and save transmission times. We propose a packet-driven sensor scheduling policy such that the sensor transmits only the important measurements to the estimator. Unlike the existing deterministic scheduler in [1], our stochastic packet scheduling is novelly designed to maintain the computational simplicity of the resulting maximum-likelihood estimator (MLE). This results in a nice feature that the MLE is still able to be recursively computed in a closed form, and the Cramer-Rao lower bound (CRLB) can be explicitly evaluated. Moreover, an optimization problem is formulated and solved to obtain the optimal parameters of the scheduling policy under which the estimation performance is comparable to the standard MLE (with full measurements) even with a moderate transmission rate. Numerical simulations are included to show the effectiveness.
This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedba...
详细信息
This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedback *** weakest consensusability condition is obtained for MASs over both directed and undirected graphs,which extends the existing results to MIMO discrete-time *** synthesis procedures are also *** work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs.
A controller design method for nondeterministic Input/Output automata is presented. The control aim is to steer the plant from its initial state into a desired final state. The controller and the plant are connected i...
详细信息
ISBN:
(纸本)9781467360890
A controller design method for nondeterministic Input/Output automata is presented. The control aim is to steer the plant from its initial state into a desired final state. The controller and the plant are connected in a feedback loop such that the controller can react to the outputs of the plant as well as to external inputs. Within this setting, criteria for the controllability of nondeterministic plants are discussed. As a main result, it is shown how to design a controller in form of a deterministic I/O automaton that accomplishes the given control aim. The applicability of the developed method is demonstrated by means of an example featuring a manufacturing cell.
The rapid development of vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communications calls for highly spectral efficient communication techniques under time-selective channels. Spatial modulation (SM) facili...
详细信息
The rapid development of vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communications calls for highly spectral efficient communication techniques under time-selective channels. Spatial modulation (SM) facilitates flexible trade-off between spectral and energy efficiency. In this paper, we propose a novel modulation technique based on SM for V2X, which discards the requirement of channel state information (CSI) at the receiver and exhibits enhanced robustness against time-selective fading and Doppler effects. Our proposed scheme tailors differential modulation to SM and is named differential spatial modulation (DSM). Monte Carlo simulations are carried out to demonstrate the advantage of the new scheme in terms of bit error rate (BER) performance for both point-to-point and dual-hop amplify-and-forward (AF) relaying systems in V2X channels.
This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algo...
详细信息
This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.
Networked control systems use the network connection to exchange data and signals. In plug-and-play control the communication of control algorithms and system models over a shared network is concerned with the intenti...
详细信息
ISBN:
(纸本)9781479947287
Networked control systems use the network connection to exchange data and signals. In plug-and-play control the communication of control algorithms and system models over a shared network is concerned with the intention to adjust control laws automatically after the occurrence of changes in the plant structure or in the control objectives. An application scenario is the break down of a sensor or an actuator as studied in fault-tolerant control. This paper investigates such a situation in the sense of plug-and-play control. The diagnostic task and reconfiguration task are separated and assigned to predestined computational units: an onboard unit allocated at the plant with access to the plant signal and a remote off-board unit concerning the expensive computation. The onboard diagnostic unit detects and identifies the failure at runtime and transmits the model of the faulty plant to the offboard reconfiguration unit over a shared network. Using the reconfiguration strategy of the virtual sensor and virtual actuator the reconfigured controller is automatically designed and transmitted to the control station to replace the original control algorithm. In the whole sequence no human interaction is necessary. The main contributions of this paper are the combination of a diagnosis method and a reconfiguration method to perform a completely automated sequence, the implementation of this concept and the evaluation by experiments on a thermal fluid process.
This paper investigates the synchronization of identical linear agents based on optimal control methods. Besides asymptotic synchronization the transient behavior of the networked multi-agent system is required to min...
详细信息
This paper investigates the synchronization of identical linear agents based on optimal control methods. Besides asymptotic synchronization the transient behavior of the networked multi-agent system is required to minimize an LQ-like performance index which is chosen so as to reflect the motion of the synchronization errors. The resulting optimization problem is non-convex because the networked controller has to satisfy structural constraints. However, a necessary condition for optimality is derived and it is shown that determining the optimal networked controller is computationally expensive. Therefore, an algorithm is proposed that uses a gradient method to solve the optimization problem for a given initial networked controller.
暂无评论