Coordination Control of Distributed Systems

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Jan H. van Schuppen, Tiziano Villa
Springer, 25/09/2014 - 398 páginas
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This book describes how control of distributed systems can be advanced by an integration of control, communication, and computation. The global control objectives are met by judicious combinations of local and nonlocal observations taking advantage of various forms of communication exchanges between distributed controllers. Control architectures are considered according to increasing degrees of cooperation of local controllers: fully distributed or decentralized control, control with communication between controllers, coordination control, and multilevel control. The book covers also topics bridging computer science, communication, and control, like communication for control of networks, average consensus for distributed systems, and modeling and verification of discrete and of hybrid systems.

Examples and case studies are introduced in the first part of the text and developed throughout the book. They include:

  • control of underwater vehicles,
  • automated-guided vehicles on a container terminal,
  • control of a printer as a complex machine, and
  • control of an electric power system.

The book is composed of short essays each within eight pages, including suggestions and references for further research and reading.

By reading the essays collected in the book Coordination Control of Distributed Systems, graduate students and post-docs will be introduced to the research frontiers in control of decentralized and of distributed systems. Control theorists and practitioners with backgrounds in electrical, mechanical, civil and aerospace engineering will find in the book information and inspiration to transfer to their fields of interest the state-of-art in coordination control.

 

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Índice

Part I Case Studies in Control of Distributed Systems
2
1 C4C Case Studies
3
2 A Model Predictive Control Approach to AUVs Motion Coordination
9
3 Dynamic Optimization Techniques for the Motion Coordination of Autonomous Vehicles
19
Are We Missing Something?
27
5 LeaderFollower Coordination Control for Urban Traffic
35
6 Prediction of Traffic Flow in a Road Network
45
7 ZoneControlBased Traffic Control of Automated Guided Vehicles
53
24 Information Structures
197
25 Control Theory with Information Structures
205
26 Common Correlated and Private Information in Control of Decentralized Systems
214
27 Distributed State Estimation with Communication of Observations
223
Part VI Multilevel Control
229
28 Complexity and Scalability of Hierarchical Control for Networked Infrastructures
231
29 Hierarchical Control for Road Traffic Management
238
Part VII Communication and Control of Distributed Systems
248

8 Coordination Control of Complex Machines
61
9 Coordinated ModelPredictive Control for Avoiding Voltage Collapse in an Electric Power Transmission Net
69
Part II Architectures of Distributed Systems and Their Control
78
10 System Architectures of Distributed and of Multilevel Systems
79
11 Control Architectures
89
Part III Coordination Control
96
12 What is Coordination Control?
97
13 Introduction to Coordinated Linear Systems
107
14 Coordinated Linear Systems
113
15 LQ Optimal Control for Coordinated Linear Systems
122
16 Supervisory Control of DiscreteEvent Systems
129
17 Coordination Control of Distributed DiscreteEvent Systems
137
Part IV Distributed Control
145
18 What Is Team Theory?
147
19 Team Theory and Information Structures of Stochastic Dynamic Decentralized Decision
155
20 Signaling of Information
164
Analysis of Performance
173
Part V Distributed Control with Communication
181
22 What Is Distributed Control with Direct Communication Between Controllers?
183
23 Communication Constraints in Control and Observation of Distributed Systems
191
30 Layered Backpressure Scheduling for DelayAware Routing in Ad Hoc Networks
249
31 Cache Control Issues in PubSub Networks and Wireless Sensor Networks
259
32 Detecting Influential Nodes in Complex Networks with Range Probabilistic Control Centrality
265
33 Model Predictive Controllers over Differentiated Services Packet Networks
273
34 A SystemCMATLAB Cosimulation Tool for Networked Control Systems
283
35 On Shannons Duality of a Source and a Channel and Nonanticipative Communication and Communication for Control
291
Properties and Extremum Problems
306
37 Information Nonanticipative Rate Distortion Function and Its Applications
317
38 Nonanticipative Duality of Sources and Channels with Memory and Feedback
325
Modeling and Verification
336
39 An Introduction to the Verification of Hybrid Systems Using Ariadne
339
40 Formal Verification Applied to Robotic Surgery
347
41 Computing Reachable Sets of Differential Inclusions
356
42 Modeling Objects Moving in a Complex Environment with World Automata
367
43 Distributed Average Consensus in Digraphs
375
Part IX Research Program
383
44 Research Program for Control of Distributed and of Multilevel Systems
384
Index
393
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The book is an edited collection. The background of the authors of the book includes:
control engineering, control theory, mathematics, communication networks, informatics, marine engineering, traffic engineering, engineering of automated vehicles, control of printers, etc. Jan H. van Schuppen is affiliated as professor emeritus with the Department of Mathematics of Delft University of Technology in Delft, The Netherlands where he still teaches and advises and is further active with his consulting company Van Schuppen Control Research in Amsterdam, The Netherlands, since his retirement in October 2012.

His research interests include: control of decentralized and distributed systems, control of hybrid systems, control of discrete-event systems, realization, system identification, control of motorway networks and modeling and identification of biochemical reaction networks.
He is Advising Editor of the journal Mathematics of Control, Signals, and Systems and in the period 2008--2011 was coordinator of the project Control for coordination of distributed systems which was financially supported by the European Commission.

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