A networked control system consists of dynamical units, or agents, that interact over a signal-exchange network for its coordinated operation and behavior. Such systems have found many applications in diverse areas of science and engineering, including multiple space, air, land, and underwater vehicles, energy and power systems, physiology, and medicine.
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Your responsibilities in this class will fall into two main categories:
1. The homework sets (one problem set roughly every third week, total of 5 homework sets) = 40% (HW 1-4: 5% each, HW5: 20%). The credit will be divided between programming assignments and theoretical exercises. The last homework will be project-based (simulation as well as a actual, remote-access multi-robot experiment) and will involve all the tools developed in the course, as shown below.
The objective with the programming assignments is to see how to bridge the gap between what is done in class and how to actually apply it. The assignments will be Matlab-based.
The course textbook is Mesbahi and Egerstedt, Graph Theoretic Methods in Multiagent Networks, Princeton University Press, 2010. (See http://press.princeton.edu/titles/9230.html.)
The textbook will be supplemented with some suggested reading material, e.g.,
Distributed Control of Robotic Networks, by F. Bullo, J. Cortes, and S. Martinez, Princeton, 2009.
Algebraic Graph Theory, by C. Godsil and G. Royle, Springer, 2001.
Networked Embedded Sensing and Control, edited by P. J. Antsaklis and P. Tabuada, Springer 2006.
TIME AND PLACE
The lectures will be held Mondays, Wednesdays, and Fridays at 11:00-12:00 in Clough Commons 102.
There are no formal prerequsits beyond graduate standing, but some knowledge of linear algebra, linear control systems, and differential equations will certainly make your life a little easier. For example, ECE6550 would be the perfect background for this course.
Altough you are encouraged to work together to learn the course material, the exams and homeworks are expected to be completed individually. All conduct in this course will be governed by the Georgia Tech honor code.
|Aug. 17||What are networked control systems?||§1|
|Aug. 19||Rendezvous: A canonical problem||§1|
|GRAPH-BASED NETWORK MODELS|
|Aug. 21||Graph theory: basics||§2|
|Aug. 24||Algebraic and spectral graph theory||§2|
|Aug. 26||Connectivity: Cheeger's inequality||§2|
|Aug. 28||Proximity graphs||§2|
|THE AGREEMENT PROTOCOL: STATIC CASE|
|Aug. 31||Reaching decentralized agreements||§3|
|Sept. 2||Consensus equation: Static case||§3|
|Sept. 4||Disagreement vectors||§3, HW1 (graph theory)|
|Sept. 7||Labor Day - NO CLASS|
|Sept. 9||Directed networks||§3|
|Sept. 11||Average consensus||§3|
|Sept. 14||Leader networks and distributed estimation|
|Sept. 16||Discrete time consensus||§3|
|THE AGREEMENT PROTOCOL: DYNAMIC CASE|
|Sept. 18||Switched networks||§4, HW2 (static consensus)|
|Sept. 21||Lyapunov-based stability||§4|
|Sept. 23||Consensus equation: Dynamic case||§4,7|
|Sept. 25||Weighted protocols||§6|
|Sept. 28||Energy-based design||§6|
|Oct. 30||Connectivity maintenance||§6|
|Oct. 2||Biological models: Flocking and swarming|
|Oct. 5||Alignment and Kuramoto's coupled oscillators|
|Oct. 12||Fall recess - NO CLASS|
|Oct. 16||Graph rigidity||§6, HW3 (dynamic consensus)|
|Oct. 21||Formation control||§6|
|Oct. 23||Design choices||§6|
|Oct. 26||Leader-follower networks||§10|
|Oct. 28||Network controllability||§10|
|Oct. 30||Network feedback||§10, HW4 (formation control)|
|Nov. 2||Distributed optimal control||§10|
|Nov. 4||Human-swarm interactions|
|Nov. 6||Project briefing|
|MOBILE SENSOR AND COMMUNICATION NETWORKS|
|Nov. 9||Sensor networks: Coverage control||§7|
|Nov. 11||Gabriel and Voronoi graphs||§7|
|Nov. 13||Location costs||§7|
|Nov. 16||Communication models||§5|
|Nov. 18||Random graphs||§5|
|Nov. 20||Random consensus||§5|
|Nov. 23||Project presentations||HW5 (project)|
|Nov. 25||Thanksgiving - NO CLASS|
|Nov. 27||Thanksgiving - NO CLASS|
|Nov. 30||LANdroids: Communication networks|
|Dec. 2||At the research frontier|
|Dec. 9||FINAL EXAM: 8:00-10:50