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Delft University of Technology
1.
Moustakis, Nikolaos (author).
Adaptive quantized control for uncertain networked systems.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323 
► Major advancements over the last few decades in communication networks gave rise to the new paradigm of Networked Control Systems (NCSs). Within this paradigm, sensing…
(more)
▼ Major advancements over the last few decades in communication networks gave rise to the new paradigm of
Networked Control Systems (NCSs). Within this paradigm, sensing and actuation signals are exchanged among various parts of a single system or among many subsystems via communication networks. Although this enables one to perform more complex tasks than traditional
control paradigms, it comes at the cost of complicating the design phase and the required analysis tools. One of the major challenges when considering a network is quantization effect which affects the performance of any
control laws that were designed without taking the network effects into account. Even if the NCS paradigm is well established, few works are available on adaptive methods for NCSs: this MSc thesis establishes novel adaptive
control approaches that attain asymptotic tracking for linear
systems and switched linear
systems with parametric uncertainties, when input measurements are quantized due to the presence of a communication network closing the
control loop. In addition to enlarging the class of
systems for which the adaptive quantized
control can be solved, a hybrid
control policy is applied to a novel dynamic quantizer with dynamic offset to address the tracking problem. The MSc thesis is split into two parts: in the first part we consider the model reference adaptive
control of a linear uncertain system, where a Lyapunov-based approach is used to derive the adaptive adjustments for the dynamic range, the dynamic offset and the
control parameters. In the second part, the approach is extended to switched uncertain linear
systems with dwell-time switching, where a new time-varying Lyapunov-like function is adopted: it is proven analytically that the new Lyapunov function we introduce, overcomes the need for zooming-out at every time instant in order to compensate the possible increment of the Lyapunov function. The proposed quantized adaptive
control schemes are applied to two benchmark examples: an electro-hydraulic system and the piecewise linear model of the NASA GTM aircraft, respectively.
Advisors/Committee Members: Baldi, Simone (mentor), Yuan, Shuai (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Adaptive control; quantization; networked control systems
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APA (6th Edition):
Moustakis, N. (. (2017). Adaptive quantized control for uncertain networked systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323
Chicago Manual of Style (16th Edition):
Moustakis, Nikolaos (author). “Adaptive quantized control for uncertain networked systems.” 2017. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323.
MLA Handbook (7th Edition):
Moustakis, Nikolaos (author). “Adaptive quantized control for uncertain networked systems.” 2017. Web. 17 Jan 2021.
Vancouver:
Moustakis N(. Adaptive quantized control for uncertain networked systems. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323.
Council of Science Editors:
Moustakis N(. Adaptive quantized control for uncertain networked systems. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323
Delft University of Technology
2.
Mooren, Maurits (author).
Watermarking for attack detection in networked control systems: comparison between a linear and a nonlinear approach.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:51355f59-7a5e-4cd7-b708-45f4c8993386
► With the increasing amount of information sent in control systems, data is more often communicated through a communication network. These networked control systems use the…
(more)
▼ With the increasing amount of information sent in control systems, data is more often communicated through a communication network. These networked control systems use the network to exchange control and feedback signals among the system’s components. Data sent over a network attracts adversaries that try to read and modify this data. These attempts of modifying the data are unwanted and need to be detected. In order to detect these attacks a digital watermark is added to the data in real time. The digital watermark gives the opportunity to check whether the data is authentic. In order to do this, the watermark embedding function is data dependent where the watermark is created from old data points. The selection of which data point is used changes over time and the moment of changing these so called delay parameters is also data dependent. With this information alone an attack can not be detected. Steganography is used to create a signal independent attack detection technique that has a 100% detection rate for the investigated attacks. There are different digital watermarking techniques. Echo Hiding and Quantization Index Modulation (QIM) are a linear and nonlinear watermarking technique that have the possibility to be used in real-time. QIM gives a higher level of security while Echo Hiding can be implemented faster and takes less CPU load. QIM removes some of the accuracy of the data and Echo Hiding takes less memory. Both techniques have advantages and disadvantages which are compared and the two techniques are tested on two systems; a standard three-tank system where data (the fluid levels) change slowly over time and a much faster system, the Van der Pol oscillator. Both watermarking techniques detect the replay and reroute attack on both systems 100% of the tested time.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Ferrari, Riccardo M.G. (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: networked control systems; watermarking; attack detection
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APA (6th Edition):
Mooren, M. (. (2019). Watermarking for attack detection in networked control systems: comparison between a linear and a nonlinear approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:51355f59-7a5e-4cd7-b708-45f4c8993386
Chicago Manual of Style (16th Edition):
Mooren, Maurits (author). “Watermarking for attack detection in networked control systems: comparison between a linear and a nonlinear approach.” 2019. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:51355f59-7a5e-4cd7-b708-45f4c8993386.
MLA Handbook (7th Edition):
Mooren, Maurits (author). “Watermarking for attack detection in networked control systems: comparison between a linear and a nonlinear approach.” 2019. Web. 17 Jan 2021.
Vancouver:
Mooren M(. Watermarking for attack detection in networked control systems: comparison between a linear and a nonlinear approach. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:51355f59-7a5e-4cd7-b708-45f4c8993386.
Council of Science Editors:
Mooren M(. Watermarking for attack detection in networked control systems: comparison between a linear and a nonlinear approach. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:51355f59-7a5e-4cd7-b708-45f4c8993386
University of Limerick
3.
Kleineberg, Oliver.
A new fault tolerant architecture for time sensitive automation networks.
Degree: 2014, University of Limerick
URL: http://hdl.handle.net/10344/4799
► peer-reviewed
Networked control systems have been widely used in Industrial Automation since the latter part of the 20st century. Such networks have evolved from small…
(more)
▼ peer-reviewed
Networked control systems have been widely used in Industrial Automation
since the latter part of the 20st century. Such networks have evolved from small
systems with proprietary and slow Fieldbus technology to a much larger scope.
Today, Ethernet-based automation systems encompass whole factories and carry
large amounts of data traffic with differing latency requirements. Proprietary
real-time Ethernet technologies such as Profinet IRT (Isochronous Real-Time)
have demonstrated the feasibility of real-time Ethernet for even the most demanding
applications such as functional safety and motion control. The drawback
of these vendor-specific solutions is their dependence on proprietary ASICs
(Application-Specific Integrated Circuit) and their very limited compatibility
to standard Ethernet and Bridging as defined by IEEE (Institute of Electrical
and Electronics Engineers) 802.3 and IEEE 802.1. Up to the present day, this
has limited the widespread success of Ethernet as a real-time network solution.
With the emerging AVB (Audio- and Video Bridging) technology, IEEE 802.1 has
defined the first vendor-neutral real-time Ethernet, enabling the possibility of a
standardised solution for Industrial Automation. However, the home automation
scope in which AVB was developed leaves large feature gaps that prevent its
adoption in mission-critical systems, for example the lack in support for faulttolerance
technologies that are specific to Industrial Automation. These networks
require built-in redundancy to prevent critical failures. While industrial-grade
redundancy technologies are designed to support mission-critical automation
with standard Ethernet, their combined usage with AVB mechanisms fails to
meet many application requirements. This research work, carried out for the Advanced
Development department of Hirschmann Automation & Control GmbH,
investigates methods to enhance IEEE 802.1 AVB so it can be better used in
networks that have firm fault-tolerance requirements. A requirement of particular
interest is to enhance AVB so it can interoperate with any arbitrary and
application-specific fault tolerance technology, so as to maximise its reach into
new application domains. This work proposes an enhancement to the AVB Stream
Reservation Protocol (SRP) to enable it to register communication streams over
multiple network paths simultaneously. To verify the feasibility of the proposal,
the protocol enhancement is implemented and verified by simulation within a
detailed model of an Industrial Ethernet network. This simulation contains Ethernet
switch and protocol models with behaviours and parameters that are based
on existing products and specifications. This helps to ensure that the simulation
results carry significance for real-world behaviour. This research also investigates
the specific protocol requirements that are needed for the feasible use of the
proposed solutions in future real-time network design, such as optimal methods
to influence stream paths in relation to…
Advisors/Committee Members: Heffernan, Donal, Hirschmann Automation & Control GmbH.
Subjects/Keywords: networked control systems; fault tolerance; automatic networks
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APA (6th Edition):
Kleineberg, O. (2014). A new fault tolerant architecture for time sensitive automation networks. (Thesis). University of Limerick. Retrieved from http://hdl.handle.net/10344/4799
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Kleineberg, Oliver. “A new fault tolerant architecture for time sensitive automation networks.” 2014. Thesis, University of Limerick. Accessed January 17, 2021.
http://hdl.handle.net/10344/4799.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Kleineberg, Oliver. “A new fault tolerant architecture for time sensitive automation networks.” 2014. Web. 17 Jan 2021.
Vancouver:
Kleineberg O. A new fault tolerant architecture for time sensitive automation networks. [Internet] [Thesis]. University of Limerick; 2014. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/10344/4799.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Kleineberg O. A new fault tolerant architecture for time sensitive automation networks. [Thesis]. University of Limerick; 2014. Available from: http://hdl.handle.net/10344/4799
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Notre Dame
4.
Feng Zhu.
Passivity Analysis and Passivation in the Design of
Cyber-Physical Systems</h1>.
Degree: Electrical Engineering, 2014, University of Notre Dame
URL: https://curate.nd.edu/show/47429882r2h
► This dissertation focuses on the analysis and control of cyber-physical systems (CPS) using dissipativity and passivity theory. Cyber-physical systems, as a new generation of…
(more)
▼ This dissertation focuses on the analysis and
control of cyber-physical
systems (CPS) using dissipativity and
passivity theory. Cyber-physical
systems, as a new generation of
systems with integrated computational and physical capabilities,
present significant challenges in
control design and analysis, due
to non-traditional modeling, uncertain environment and highly
coupled discrete-event and continuous-time dynamics. On the other
hand, it is well known that passive and dissipative
systems have
modeling, compositionality advantages and stability-guaranteed
performance, which are desirable requirements in CPS design.
However, it is not straightforward to apply dissipativity and
passivity theory to CPS directly in general. The
main contribution of this dissertation is to provide systematic and
computational methods of passivity analysis and passivation for
continuous,
networked and hybrid dynamical
systems, which provide
modeling foundations for CPS. These methods are originally
developed for classical nonlinear
systems. They include passivity
analysis and passivation for interconnected
systems using passivity
indices and a transformation-based passivation scheme for
individual
systems. Later, it is shown that the proposed methods
can address the issues in the design of CPS, by considering hybrid
systems and
networked control systems (NCS), respectively. For
hybrid
systems, the transformation-based passivation scheme
provides valuable results on preserving passivity of switched
systems under quantization. For
networked control systems, the
problems of passivity analysis and passivation using passivity
indices for interconnected event-triggered feedback
systems are
investigated. The co-design of passivity levels and
event-triggering conditions demonstrates how the trade off between
required passivity levels and communication resource utilization
can be achieved in NCS. Overall, this
dissertation provides new approaches to passivity analysis and
passivation of CPS with the focus being on hybrid
systems and
networked control systems. Numerical simulations and relevant
examples are also provided to demonstrate the practical
applications of these methods.
Advisors/Committee Members: Vijay Gupta, Committee Member, Peter H. Bauer, Committee Member, Hai Lin, Committee Member, Panos J. Antsaklis, Committee Chair.
Subjects/Keywords: cyber-physical systems; passivity-based control; networked control systems; hybrid systems
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APA ·
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APA (6th Edition):
Zhu, F. (2014). Passivity Analysis and Passivation in the Design of
Cyber-Physical Systems</h1>. (Thesis). University of Notre Dame. Retrieved from https://curate.nd.edu/show/47429882r2h
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Zhu, Feng. “Passivity Analysis and Passivation in the Design of
Cyber-Physical Systems</h1>.” 2014. Thesis, University of Notre Dame. Accessed January 17, 2021.
https://curate.nd.edu/show/47429882r2h.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Zhu, Feng. “Passivity Analysis and Passivation in the Design of
Cyber-Physical Systems</h1>.” 2014. Web. 17 Jan 2021.
Vancouver:
Zhu F. Passivity Analysis and Passivation in the Design of
Cyber-Physical Systems</h1>. [Internet] [Thesis]. University of Notre Dame; 2014. [cited 2021 Jan 17].
Available from: https://curate.nd.edu/show/47429882r2h.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Zhu F. Passivity Analysis and Passivation in the Design of
Cyber-Physical Systems</h1>. [Thesis]. University of Notre Dame; 2014. Available from: https://curate.nd.edu/show/47429882r2h
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Newcastle
5.
Kong, He.
A unified approach to linear design and predictive control of constrained systems.
Degree: MPC) for linear systems from a design perspective. Our focus is on establishing a unified approach of linear design methods and MPC so that the benefits of the two can be obtained in a well-defined way for practical applications. For this purpose, we have considered the design question from both the control and communication point of view. On the control side, starting from a basic assumption that an unconstrained pre-stabilizing controller is available, we have considered several closely-related issues. Specifically, we have proposed novel tuning techniques so that an MPC controller can either replace an existing controller or gradually improve the control performance based on the latter. We have presented a detailed stability proof for these techniques. In this thesis we have also discussed the role of the observer in robust MPC. As such, we have considered systems with unstructured uncertainty and presented some design methods of robust policies. We have shown via theoretical analysis and numerical simulation that the choice of the observer makes a key difference in the resulting closed-loop performance. On the communication side, we have presented a sparse communication strategy for networked control systems (NCS) based on the singular value decomposition (SVD, a well-defined way for practical applications. For this purpose, we have considered the design question from both the control and communication point of view. On the control side, starting from a basic assumption that an unconstrained pre-stabilizing controller is available, we have considered several closely-related issues. Specifically, we have proposed novel tuning techniques so that an MPC controller can either replace an existing controller or gradually improve the control performance based on the latter. We have presented a detailed stability proof for these techniques. In this thesis we have also discussed the role of the observer in robust MPC. As such, we have considered systems with unstructured uncertainty and presented some design methods of robust policies. We have shown via theoretical analysis and numerical simulation that the choice of the observer makes a key difference in the resulting closed-loop performance. On the communication side, we have presented a sparse communication strategy for networked control systems (NCS) based on the singular value decomposition (SVD, 2014, University of Newcastle
URL: http://hdl.handle.net/1959.13/1055900
► Research Doctorate - Electrical Engineering
This thesis studies the use of model predictive control (MPC) for linear systems from a design perspective. Our focus is…
(more)
▼ Research Doctorate - Electrical Engineering
This thesis studies the use of model predictive control (MPC) for linear systems from a design perspective. Our focus is on establishing a unified approach of linear design methods and MPC so that the benefits of the two can be obtained in a well-defined way for practical applications. For this purpose, we have considered the design question from both the control and communication point of view. On the control side, starting from a basic assumption that an unconstrained pre-stabilizing controller is available, we have considered several closely-related issues. Specifically, we have proposed novel tuning techniques so that an MPC controller can either replace an existing controller or gradually improve the control performance based on the latter. We have presented a detailed stability proof for these techniques. In this thesis we have also discussed the role of the observer in robust MPC. As such, we have considered systems with unstructured uncertainty and presented some design methods of robust policies. We have shown via theoretical analysis and numerical simulation that the choice of the observer makes a key difference in the resulting closed-loop performance. On the communication side, we have presented a sparse communication strategy for networked control systems (NCS) based on the singular value decomposition (SVD) of the Hessian of the quadratic performance index generally considered in MPC and the unconstrained optimal controller. The singular vectors are employed to generate an orthonormal basis function expansion of the unconstrained solution to the infinite horizon optimal control problem. The proposed control law is deduced from the former unconstrained controller based on cost reduction consideration. We have presented a thorough study of the associated stability analysis and have shown the advantages of the proposed method via simulation studies.
Advisors/Committee Members: University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science.
Subjects/Keywords: model predictive control; constrained control; robust control; networked control systems
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APA ·
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APA (6th Edition):
Kong, H. (2014). A unified approach to linear design and predictive control of constrained systems. (Doctoral Dissertation). University of Newcastle. Retrieved from http://hdl.handle.net/1959.13/1055900
Chicago Manual of Style (16th Edition):
Kong, He. “A unified approach to linear design and predictive control of constrained systems.” 2014. Doctoral Dissertation, University of Newcastle. Accessed January 17, 2021.
http://hdl.handle.net/1959.13/1055900.
MLA Handbook (7th Edition):
Kong, He. “A unified approach to linear design and predictive control of constrained systems.” 2014. Web. 17 Jan 2021.
Vancouver:
Kong H. A unified approach to linear design and predictive control of constrained systems. [Internet] [Doctoral dissertation]. University of Newcastle; 2014. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1959.13/1055900.
Council of Science Editors:
Kong H. A unified approach to linear design and predictive control of constrained systems. [Doctoral Dissertation]. University of Newcastle; 2014. Available from: http://hdl.handle.net/1959.13/1055900
University of Notre Dame
6.
Han Yu.
Passivity and Dissipativity as Design and Analysis Tools for
Networked Control Systems</h1>.
Degree: Electrical Engineering, 2012, University of Notre Dame
URL: https://curate.nd.edu/show/bc386h4635x
► In this dissertation, several control problems are studied that arise when passive or dissipative systems are interconnected and controlled over a communication network. Since…
(more)
▼ In this dissertation, several
control
problems are studied that arise when passive or dissipative
systems
are interconnected and controlled over a communication network.
Since communication networks can impact the systems’ stability and
performance, there is a need to extend the results on
control of
passive or dissipative
systems to
networked configurations. We
focus on addressing three problems in this thesis: the first
problem is how to characterize the system’s passive or dissipative
properties quantitatively; the second problem is how to preserve
the passive or dissipative properties of the interconnected
systems
over the communication network; the third problem is how to reduce
the communication rates between the interconnected
systems while
stability and certain
control objectives can still be achieved. The
problems studied in this thesis consider complex but common
situations in
networked control systems and their solutions
represent a practical benefit to the way we design and analyze the
studied
control systems.
Advisors/Committee Members: Vijay Gupta, Committee Member, Hai Lin, Committee Member, Bill Goodwine, Committee Member, Panos J. Antsaklis, Committee Chair.
Subjects/Keywords: event-triggered control; passivity-based control; networked control systems
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APA ·
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Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Yu, H. (2012). Passivity and Dissipativity as Design and Analysis Tools for
Networked Control Systems</h1>. (Thesis). University of Notre Dame. Retrieved from https://curate.nd.edu/show/bc386h4635x
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Yu, Han. “Passivity and Dissipativity as Design and Analysis Tools for
Networked Control Systems</h1>.” 2012. Thesis, University of Notre Dame. Accessed January 17, 2021.
https://curate.nd.edu/show/bc386h4635x.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Yu, Han. “Passivity and Dissipativity as Design and Analysis Tools for
Networked Control Systems</h1>.” 2012. Web. 17 Jan 2021.
Vancouver:
Yu H. Passivity and Dissipativity as Design and Analysis Tools for
Networked Control Systems</h1>. [Internet] [Thesis]. University of Notre Dame; 2012. [cited 2021 Jan 17].
Available from: https://curate.nd.edu/show/bc386h4635x.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Yu H. Passivity and Dissipativity as Design and Analysis Tools for
Networked Control Systems</h1>. [Thesis]. University of Notre Dame; 2012. Available from: https://curate.nd.edu/show/bc386h4635x
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Newcastle
7.
Silva, Eduardo.
A unified framework for the analysis and design of networked control systems.
Degree: PhD, 2009, University of Newcastle
URL: http://hdl.handle.net/1959.13/34256
► Research Doctorate - Doctor of Philosophy (PhD)
This thesis studies control systems with communication constraints. Such constraints arise due to the fact that practical control…
(more)
▼ Research Doctorate - Doctor of Philosophy (PhD)
This thesis studies control systems with communication constraints. Such constraints arise due to the fact that practical control systems often use non-transparent communication links, i.e., links subject to data-rate constraints, random data-dropouts or random delays. Traditional control theory cannot deal with such constraints and the need for new tools and insights arises. We study two problems: control with average data-rate constraints and control over analog erasure channels with i.i.d. dropout profiles. When focusing on average data-rate constraints, it is natural to ask whether information theoretic ideas may assist the study of networked control systems. In this thesis we show that it is possible to use fundamental information theoretic concepts to arrive at a framework that allows one to tackle performance related control problems. In doing so, we show that there exists an exact link between control systems subject to average data-rate limits, and control systems which are closed over additive i.i.d. noise channels subject to a signal-to-noise ratio constraint. On the other hand, in the case of control systems subject to i.i.d. data-dropouts, we show that there exists a second-order moments equivalence between a linear feedback system which is interconnected over an analog erasure channel, and the same system when it is interconnected over an additive i.i.d. noise channel subject to a signal-to-noise ratio constraint. From the results foreshadowed above, it follows that the study of control systems closed over signal-to-noise ratio constrained additive i.i.d. noise channels is a task of relevance to many networked control problems. Moreover, the interplay between signal-to-noise ratio constraints and control objectives is an interesting issue in its own right. This thesis starts with such a study. Then, we use the resultant insights to address performance issues in control systems subject to either average data-rate constraints or i.i.d. data-dropouts. Our approach shows that, once key equivalences are exposed, standard control intuition and synthesis machinery can be used to tackle networked control problems in an exact manner. It also sheds light into fundamental results in the literature and gives (partial) answers to several previously open questions. We believe that the insights in this thesis are of fundamental importance and, to the best of the author's knowledge, novel.
Advisors/Committee Members: University of Newcastle. Faculty of Engineering and Built Environment, School of Electrical Engineering and Computer Science.
Subjects/Keywords: networked control systems; quantization; signal to noise ratio; optimal control
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APA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Silva, E. (2009). A unified framework for the analysis and design of networked control systems. (Doctoral Dissertation). University of Newcastle. Retrieved from http://hdl.handle.net/1959.13/34256
Chicago Manual of Style (16th Edition):
Silva, Eduardo. “A unified framework for the analysis and design of networked control systems.” 2009. Doctoral Dissertation, University of Newcastle. Accessed January 17, 2021.
http://hdl.handle.net/1959.13/34256.
MLA Handbook (7th Edition):
Silva, Eduardo. “A unified framework for the analysis and design of networked control systems.” 2009. Web. 17 Jan 2021.
Vancouver:
Silva E. A unified framework for the analysis and design of networked control systems. [Internet] [Doctoral dissertation]. University of Newcastle; 2009. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1959.13/34256.
Council of Science Editors:
Silva E. A unified framework for the analysis and design of networked control systems. [Doctoral Dissertation]. University of Newcastle; 2009. Available from: http://hdl.handle.net/1959.13/34256
Delft University of Technology
8.
Szymanek, Aleksandra (author).
Periodic event-triggered control for congested networked control systems.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:7e7b0712-9bed-4438-a37d-2b5b2ed24211
► With the recent development of control systems, event-triggered control (ETC) has been introduced to prevent unnecessary usage of resources, which often happens under time-based control…
(more)
▼ With the recent development of control systems, event-triggered control (ETC) has been introduced to prevent unnecessary usage of resources, which often happens under time-based control implementations. This thesis presents a novel approach to periodic event-triggered control (PETC) that aims at reducing the number of transmissions between the controller and the sensors even further. This goal is particularly important in networked control systems (NCSs), where communication and computation resources are scarce. In this report, a relaxed triggering condition is introduced that relies on bounding the Lyapunov function of the continuous-time closed-loop system with an exponentially decaying function, rather than requiring its monotone decrease. The relaxed PETC achieves significantly less transmissions compared to existing PETC implementations. The thesis pushes the limit of event-triggered control even further, by introducing an algorithm for a scheduler of NCS that allows to skip some of the events. This can be seen as a ‘last resort’ approach, that postpones the transmission as much as possible. It is inspired by methods used in self-triggered control (STC) and scheduling event-based NCS. Reducing the communication between the plant and the controller introduces some trade-offs that are also discussed in this report. Finally, several modifications of presented ideas are given that can be applied depending on the main objectives on the performance of the control loop.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Mazo Espinosa, Manuel (mentor), de Albuquerque Gleizer, Gabriel (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: periodic event-triggered control; networked control systems; triggering mechanism
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APA (6th Edition):
Szymanek, A. (. (2019). Periodic event-triggered control for congested networked control systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:7e7b0712-9bed-4438-a37d-2b5b2ed24211
Chicago Manual of Style (16th Edition):
Szymanek, Aleksandra (author). “Periodic event-triggered control for congested networked control systems.” 2019. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:7e7b0712-9bed-4438-a37d-2b5b2ed24211.
MLA Handbook (7th Edition):
Szymanek, Aleksandra (author). “Periodic event-triggered control for congested networked control systems.” 2019. Web. 17 Jan 2021.
Vancouver:
Szymanek A(. Periodic event-triggered control for congested networked control systems. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:7e7b0712-9bed-4438-a37d-2b5b2ed24211.
Council of Science Editors:
Szymanek A(. Periodic event-triggered control for congested networked control systems. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:7e7b0712-9bed-4438-a37d-2b5b2ed24211
Delft University of Technology
9.
Hop, Christiaan (author).
Abstraction of In-Vehicle Event-Triggered Networked Control Systems for Scheduling.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a2bcb3a2-857e-425d-946b-a96fee9ed4ab
► The number of electronic control systems applied in vehicles has increased dramatically over the years. This trend will only continue with the introduction of novel…
(more)
▼ The number of electronic
control systems applied in vehicles has increased dramatically over the years. This trend will only continue with the introduction of novel technologies such as advanced driver assistance
systems (ADAS). To save cable weight and costs in-vehicle
control systems often use shared communication networks. With the increasing use of in-vehicle
control systems the scheduling of these networks becomes a serious challenge. In this master thesis a new event-triggered approach for the scheduling of
networked control systems (NCSs) using timed game automata (TGA) is considered. This new approach yields some potential benefits over existing communication protocols and has already been implemented successfully on two-dimensional linear time-invariant (LTI)
systems. To obtain the
control system TGA for this scheduling approach the NCSs have to be abstracted. The
control system abstraction method that is used has to be modified in order to be able to handle higher dimensional
systems as well, and that is exactly the focus of this master thesis. The abstraction method is extended and applied to three-dimensional and four-dimensional in-vehicle LTI
control systems. The outcomes are checked using simulations which show that the applied abstraction method works.
Advisors/Committee Members: Mazo Espinosa, M. (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: event-triggered control; networked control systems; scheduling; abstraction
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APA ·
Chicago ·
MLA ·
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to Zotero / EndNote / Reference
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APA (6th Edition):
Hop, C. (. (2017). Abstraction of In-Vehicle Event-Triggered Networked Control Systems for Scheduling. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a2bcb3a2-857e-425d-946b-a96fee9ed4ab
Chicago Manual of Style (16th Edition):
Hop, Christiaan (author). “Abstraction of In-Vehicle Event-Triggered Networked Control Systems for Scheduling.” 2017. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:a2bcb3a2-857e-425d-946b-a96fee9ed4ab.
MLA Handbook (7th Edition):
Hop, Christiaan (author). “Abstraction of In-Vehicle Event-Triggered Networked Control Systems for Scheduling.” 2017. Web. 17 Jan 2021.
Vancouver:
Hop C(. Abstraction of In-Vehicle Event-Triggered Networked Control Systems for Scheduling. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:a2bcb3a2-857e-425d-946b-a96fee9ed4ab.
Council of Science Editors:
Hop C(. Abstraction of In-Vehicle Event-Triggered Networked Control Systems for Scheduling. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:a2bcb3a2-857e-425d-946b-a96fee9ed4ab
Texas A&M University
10.
Dong, Jiawei.
Output Feedback Control and Optimal Bandwidth Allocation of Networked Control Systems.
Degree: PhD, Mechanical Engineering, 2013, Texas A&M University
URL: http://hdl.handle.net/1969.1/149367
► A networked control system (NCS) is a control system where sensors, actuators, and controllers are interconnected over a communication network. This dissertation presents a framework…
(more)
▼ A
networked control system (NCS) is a
control system where sensors, actuators, and controllers are interconnected over a communication network. This dissertation presents a framework for modeling, stability analysis, optimal
control, and bandwidth allocation of the NCS. A ball magnetic-levitation (maglev) system, four DC motor speed-
control systems, and a wireless autonomous robotic wheelchair are employed as test beds to illustrate and verify the theoretical results of this dissertation.
This dissertation first proposes an output feedback method to stabilize and
control the NCSs. The random time delays in the controller-to-actuator and sensor-to-controller links are modeled with two time-homogeneous Markov chains while the packet losses are treated with Dirac delta functions. An asymptotic mean-square stability criterion is established to compensate for the network-induced random time delays and packet losses in the NCS. Then, an algorithm to implement the asymptotic mean-square stability criterion is presented. Experimental results illustrate effectiveness of the proposed output feedback method compared to conventional controllers. The proposed output feedback controller could reduce the errors of the NCS by 13% and 30–40% for the cases without and with data packet losses, respectively.
The optimal bandwidth allocation and scheduling of the NCS with nonlinear-programming techniques is also presented in the dissertation. The bandwidth utilization (BU) of each client is defined in terms of its sampling frequency. Two nonlinear approximations, exponential and quadratic approximations, are formulated to describe the system performance governed by discrete-time integral absolute error (DIAE) versus sampling frequency. The optimal sampling frequencies are obtained by solving the approximations with Karush-Kuhn-Tucker (KKT) conditions. Simulation and experimental results are given to verify the effectiveness of the proposed approximations and the bandwidth allocation and scheduling algorithms. In simulations and experiments, the two approximations could maximize the total BU of the NCS up to about 98% of the total available network bandwidth.
Advisors/Committee Members: Kim, Won-jong (advisor), Langari, Reza (committee member), Rasmussen, Bryan (committee member), Zhang, Xi (committee member).
Subjects/Keywords: Networked control systems; Output feedback control; Optimal bandwidth allocation
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Dong, J. (2013). Output Feedback Control and Optimal Bandwidth Allocation of Networked Control Systems. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/149367
Chicago Manual of Style (16th Edition):
Dong, Jiawei. “Output Feedback Control and Optimal Bandwidth Allocation of Networked Control Systems.” 2013. Doctoral Dissertation, Texas A&M University. Accessed January 17, 2021.
http://hdl.handle.net/1969.1/149367.
MLA Handbook (7th Edition):
Dong, Jiawei. “Output Feedback Control and Optimal Bandwidth Allocation of Networked Control Systems.” 2013. Web. 17 Jan 2021.
Vancouver:
Dong J. Output Feedback Control and Optimal Bandwidth Allocation of Networked Control Systems. [Internet] [Doctoral dissertation]. Texas A&M University; 2013. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1969.1/149367.
Council of Science Editors:
Dong J. Output Feedback Control and Optimal Bandwidth Allocation of Networked Control Systems. [Doctoral Dissertation]. Texas A&M University; 2013. Available from: http://hdl.handle.net/1969.1/149367
11.
Grunberg, Theodore W.
Performance Measures for Oscillator Networks.
Degree: 2015, Johns Hopkins University
URL: http://jhir.library.jhu.edu/handle/1774.2/38111
► Oscillator networks consist of a set of simple subsystems, e.g. damped harmonic oscillators that interact with each other across a network with a specified structure.…
(more)
▼ Oscillator networks consist of a set of simple subsystems, e.g. damped harmonic oscillators that interact with each other across a network with a specified structure. Such networks of coupled oscillators serve as a model for many
systems such as power grids, vehicle platoons, and biological networks. Even though the dynamics of each oscillator are simple, the coupling between them can produce complex behavior. One possible behavior is synchronization, where all of the oscillators reach a state where their relative phase angles are constant and their frequencies are uniform. This work examines the synchronization performance of oscillator networks, i.e. how well the network maintains synchrony in the face of persistent disturbances. Specifically, we define a class of performance measures for oscillator networks as the H2-norm of particular input-output linear
systems. This class of performance measures corresponds to measuring the average value of a quadratic form of
the oscillator phases when stochastic disturbances are applied to some subset of the oscillators. Depending on the specific quadratic form that is chosen, this performance measure can correspond to a variety of physically meaningful and domain specific quantities. For example, it can be used to quantify the total interactions between oscillators during resynchronization after a disturbance. This quantity corresponds to the transient resistive losses in maintaining synchronous operation in a power network. Alternatively, one can instead measure the network coherence, which quantifies how closely the oscillator network acts like a single rigid body. Our results demonstrate a strong connection between the concept of effective resistance and our class of performance measures. For example, our results make precise the intuitive notion that more "tightly connected'' oscillator networks are more coherent by showing that the maximum effective resistance in the network is the correct notion
of connectivity. We consider applications of the work to both power grids and vehicle platoons with local and absolute (global) velocity feedback. For power grids we use our effective resistance based results to obtain novel bounds on the resistive losses due to generators maintaining synchrony. For vehicle platoons we investigate the coherence in the platoon as a performance measure. We show that for large scale platoons local velocity feedback performs worse than absolute velocity feedback under certain conditions related to the asymptotic behavior of the maximum effective resistance in the underlying graph.
Advisors/Committee Members: Gayme, Dennice F (advisor).
Subjects/Keywords: control systems;
networked systems
…with local position control and either absolute (control law 1) or local
(… …control law 2) velocity control. The long range disorder is measured
by Pij where {i… …area control to prevent inter-area oscillations
while simultaneously promoting sparsity in… …the controller. Additionally, Lin et al. [14]
studied H2 -norm minimizing control… …the performance
of networks of first order systems by considering the steady state variance…
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Grunberg, T. W. (2015). Performance Measures for Oscillator Networks. (Thesis). Johns Hopkins University. Retrieved from http://jhir.library.jhu.edu/handle/1774.2/38111
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Grunberg, Theodore W. “Performance Measures for Oscillator Networks.” 2015. Thesis, Johns Hopkins University. Accessed January 17, 2021.
http://jhir.library.jhu.edu/handle/1774.2/38111.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Grunberg, Theodore W. “Performance Measures for Oscillator Networks.” 2015. Web. 17 Jan 2021.
Vancouver:
Grunberg TW. Performance Measures for Oscillator Networks. [Internet] [Thesis]. Johns Hopkins University; 2015. [cited 2021 Jan 17].
Available from: http://jhir.library.jhu.edu/handle/1774.2/38111.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Grunberg TW. Performance Measures for Oscillator Networks. [Thesis]. Johns Hopkins University; 2015. Available from: http://jhir.library.jhu.edu/handle/1774.2/38111
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Australian National University
12.
Sun, Zhiyong.
Cooperative Coordination and Formation Control for Multi-agent Systems
.
Degree: 2016, Australian National University
URL: http://hdl.handle.net/1885/112237
► The primary aim of this thesis is to study cooperative coordination control and formation control for multi-agent systems, with a focus on distributed stabilization control…
(more)
▼ The primary aim of this thesis is to study cooperative
coordination control and formation control for multi-agent
systems, with a focus on distributed stabilization control of
rigid formation shapes. We consider several problems in the
field, ranging from the equilibrium and stability of formation
control systems, some practical considerations in formation
control, and cooperative coordination control when agents have
general dynamical models.
In the first part of the thesis, we study in detail the
equilibrium property of rigid formation control systems. A
rank-preserving property is established for this coordination
control system, and with this property we further prove the
instability of a special equilibrium set (termed degenerate
equilibria) at which agents' positions only span an affine space
with dimension less than that of the full space. The exponential
stability of rigid formation control systems for a large family
of formation controllers is also proved, with the property
applying for both minimally rigid formations and non-minimally
rigid formations. This approach provides a general and unified
way for stability analysis of formation control systems.
In the second part, we investigate several practical issues on
formation control, including robustness issues, rigid shape
stabilization with a prescribed orientation, and formation
control with quantized measurements. From the exponential
stability proved in the first part, we discuss the convergence
and robustness property for 3-D rigid formation control systems
with distance mismatches, and identify a helical rigid motion
induced by mismatched distances. In addition, we propose a
feasible formation controller to achieve a desired rigid shape
and a prescribed formation orientation in ambient 2-D and 3-D
spaces, with minimal knowledge of the global coordinate frame
orientation. Furthermore, quantization effects on rigid formation
shape stabilization are discussed in detail in the case that the
cooperative formation control only uses quantized distance
measurements.
In the third part, we extend some main results considered in
previous chapters on formation control systems modelled by single
integrators to systems modelled by more general dynamics,
including double integrator models and nonlinear control systems.
First, two types of double-integrator cooperative control systems
(i.e. formation stabilization systems and flocking control
systems with a target rigid shape) are thoroughly investigated.
By using a family of parameterized Hamiltonian-like systems, we
further establish certain invariance principles concerning the
equilibrium set and local stability, which build the link between
the stability analysis for formation systems modelled by single
integrators and those modelled by double integrators. In
…
Subjects/Keywords: Multi-agent Systems;
Cooperative Coordination;
Formation Control;
Networked Systems;
Stability
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Sun, Z. (2016). Cooperative Coordination and Formation Control for Multi-agent Systems
. (Thesis). Australian National University. Retrieved from http://hdl.handle.net/1885/112237
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Sun, Zhiyong. “Cooperative Coordination and Formation Control for Multi-agent Systems
.” 2016. Thesis, Australian National University. Accessed January 17, 2021.
http://hdl.handle.net/1885/112237.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Sun, Zhiyong. “Cooperative Coordination and Formation Control for Multi-agent Systems
.” 2016. Web. 17 Jan 2021.
Vancouver:
Sun Z. Cooperative Coordination and Formation Control for Multi-agent Systems
. [Internet] [Thesis]. Australian National University; 2016. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1885/112237.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Sun Z. Cooperative Coordination and Formation Control for Multi-agent Systems
. [Thesis]. Australian National University; 2016. Available from: http://hdl.handle.net/1885/112237
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Manchester
13.
Skeik, Ola.
Robust consensus for networked systems with negative
imaginary properties.
Degree: 2020, University of Manchester
URL: http://www.manchester.ac.uk/escholar/uk-ac-man-scw:323564
► This thesis investigates multi-agent systems problems for systems with negative imaginary dynamics. Via tools from negative imaginary theory and graph theory, this research addresses the…
(more)
▼ This thesis investigates multi-agent
systems
problems for
systems with negative imaginary dynamics. Via tools
from negative imaginary theory and graph theory, this research
addresses the following three multi-agent
systems problems: (i) the
distributed robust stabilization problem for
networked multi-agent
systems with strict negative imaginary uncertainties; (ii) the
robust output consensus problem for homogeneous multi-agent
systems
with negative imaginary dynamics; and (iii) a rendezvous problem
for multiple wheeled mobile robots, through the development of
cooperative
control strategies for integrator negative imaginary
systems. The main results of this thesis are summarised as follows.
Firstly, a solution to the distributed robust stabilization problem
for
networked multi-agent
systems with strict negative imaginary
uncertainties is proposed. The solution includes the derivation of
sufficient conditions, in an LMI framework, for the existence of
control protocol parameters such that the
control protocol robustly
stabilizes a
networked multi-agent system in presence of strictly
negative imaginary uncertainties of certain DC size; and
guaranteeing that robust stability is achieved when variations in
the network topology occur. Secondly, a solution to the robust
output consensus problem for homogeneous multi-agent
systems with
negative imaginary dynamics is proposed. The solution includes
relaxing the assumptions imposed in earlier literature thereby
derive robust output consensus conditions under L2 external
disturbances and model uncertainty which are not restricted and
which simplify in the single-input single-output case to provide
several insights not easily captured in the multi-input
multi-output case. Finally, a solution to a rendezvous problem for
nonholonomic wheeled mobile robots via the negative imaginary
systems theory is proposed. The solution includes the derivation of
necessary and sufficient conditions that guarantee output consensus
and output tracking for strongly connected, balanced and directed
networks of integrators
subject to energy-bounded disturbances
using the negative imaginary internal stability theorems and then
utilize the results to achieve rendezvous of multiple wheeled
mobile robot. Examples are provided in each of the three
aforementioned research problems to demonstrate the effectiveness
of the associated proposed results. Additionally, experimental
results from real-robots are provided for the rendezvous research
problem. This research contributes to the existing literature on
cooperative
control of multi-agent
systems with negative imaginary
properties. The research provides a timely and necessary study of
the robust stabilization, output consensus and rendezvous problems
for
networked systems with negative imaginary properties. This
current research is important since many practical
systems can be
modelled as negative imaginary
systems and achieving a certain
behaviour in multi-agent
systems has potential real-world
applications.
Advisors/Committee Members: OSINUGA, MOBOLAJI MF, Lanzon, Alexander, Osinuga, Mobolaji.
Subjects/Keywords: Negative imaginary systems; networked systems; consensus; robust control
Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Skeik, O. (2020). Robust consensus for networked systems with negative
imaginary properties. (Doctoral Dissertation). University of Manchester. Retrieved from http://www.manchester.ac.uk/escholar/uk-ac-man-scw:323564
Chicago Manual of Style (16th Edition):
Skeik, Ola. “Robust consensus for networked systems with negative
imaginary properties.” 2020. Doctoral Dissertation, University of Manchester. Accessed January 17, 2021.
http://www.manchester.ac.uk/escholar/uk-ac-man-scw:323564.
MLA Handbook (7th Edition):
Skeik, Ola. “Robust consensus for networked systems with negative
imaginary properties.” 2020. Web. 17 Jan 2021.
Vancouver:
Skeik O. Robust consensus for networked systems with negative
imaginary properties. [Internet] [Doctoral dissertation]. University of Manchester; 2020. [cited 2021 Jan 17].
Available from: http://www.manchester.ac.uk/escholar/uk-ac-man-scw:323564.
Council of Science Editors:
Skeik O. Robust consensus for networked systems with negative
imaginary properties. [Doctoral Dissertation]. University of Manchester; 2020. Available from: http://www.manchester.ac.uk/escholar/uk-ac-man-scw:323564
University of Manchester
14.
Skeik, Ola.
Robust consensus for networked systems with negative imaginary properties.
Degree: PhD, 2020, University of Manchester
URL: https://www.research.manchester.ac.uk/portal/en/theses/robust-consensus-for-networked-systems-with-negative-imaginary-properties(e7eac3d5-1887-416b-8bb0-53298996ed56).html
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.799496
► This thesis investigates multi-agent systems problems for systems with negative imaginary dynamics. Via tools from negative imaginary theory and graph theory, this research addresses the…
(more)
▼ This thesis investigates multi-agent systems problems for systems with negative imaginary dynamics. Via tools from negative imaginary theory and graph theory, this research addresses the following three multi-agent systems problems: (i) the distributed robust stabilization problem for networked multi-agent systems with strict negative imaginary uncertainties; (ii) the robust output consensus problem for homogeneous multi-agent systems with negative imaginary dynamics; and (iii) a rendezvous problem for multiple wheeled mobile robots, through the development of cooperative control strategies for integrator negative imaginary systems. The main results of this thesis are summarised as follows. Firstly, a solution to the distributed robust stabilization problem for networked multi-agent systems with strict negative imaginary uncertainties is proposed. The solution includes the derivation of sufficient conditions, in an LMI framework, for the existence of control protocol parameters such that the control protocol robustly stabilizes a networked multi-agent system in presence of strictly negative imaginary uncertainties of certain DC size; and guaranteeing that robust stability is achieved when variations in the network topology occur. Secondly, a solution to the robust output consensus problem for homogeneous multi-agent systems with negative imaginary dynamics is proposed. The solution includes relaxing the assumptions imposed in earlier literature thereby derive robust output consensus conditions under L2 external disturbances and model uncertainty which are not restricted and which simplify in the single-input single-output case to provide several insights not easily captured in the multi-input multi-output case. Finally, a solution to a rendezvous problem for nonholonomic wheeled mobile robots via the negative imaginary systems theory is proposed. The solution includes the derivation of necessary and sufficient conditions that guarantee output consensus and output tracking for strongly connected, balanced and directed networks of integrators subject to energy-bounded disturbances using the negative imaginary internal stability theorems and then utilize the results to achieve rendezvous of multiple wheeled mobile robot. Examples are provided in each of the three aforementioned research problems to demonstrate the effectiveness of the associated proposed results. Additionally, experimental results from real-robots are provided for the rendezvous research problem. This research contributes to the existing literature on cooperative control of multi-agent systems with negative imaginary properties. The research provides a timely and necessary study of the robust stabilization, output consensus and rendezvous problems for networked systems with negative imaginary properties. This current research is important since many practical systems can be modelled as negative imaginary systems and achieving a certain behaviour in multi-agent systems has potential real-world applications.
Subjects/Keywords: Negative imaginary systems; networked systems; consensus; robust control
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Skeik, O. (2020). Robust consensus for networked systems with negative imaginary properties. (Doctoral Dissertation). University of Manchester. Retrieved from https://www.research.manchester.ac.uk/portal/en/theses/robust-consensus-for-networked-systems-with-negative-imaginary-properties(e7eac3d5-1887-416b-8bb0-53298996ed56).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.799496
Chicago Manual of Style (16th Edition):
Skeik, Ola. “Robust consensus for networked systems with negative imaginary properties.” 2020. Doctoral Dissertation, University of Manchester. Accessed January 17, 2021.
https://www.research.manchester.ac.uk/portal/en/theses/robust-consensus-for-networked-systems-with-negative-imaginary-properties(e7eac3d5-1887-416b-8bb0-53298996ed56).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.799496.
MLA Handbook (7th Edition):
Skeik, Ola. “Robust consensus for networked systems with negative imaginary properties.” 2020. Web. 17 Jan 2021.
Vancouver:
Skeik O. Robust consensus for networked systems with negative imaginary properties. [Internet] [Doctoral dissertation]. University of Manchester; 2020. [cited 2021 Jan 17].
Available from: https://www.research.manchester.ac.uk/portal/en/theses/robust-consensus-for-networked-systems-with-negative-imaginary-properties(e7eac3d5-1887-416b-8bb0-53298996ed56).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.799496.
Council of Science Editors:
Skeik O. Robust consensus for networked systems with negative imaginary properties. [Doctoral Dissertation]. University of Manchester; 2020. Available from: https://www.research.manchester.ac.uk/portal/en/theses/robust-consensus-for-networked-systems-with-negative-imaginary-properties(e7eac3d5-1887-416b-8bb0-53298996ed56).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.799496
Delft University of Technology
15.
Gramatikov, S.T. (author).
Cyber-Attack Detection in Networked Control Systems via Encrypted Watermarks.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:aaae482f-4ece-45b0-88e8-edfe14019331
► Cyber-attacks long have been a topic reserved for sci-fi movies and books. With the advance of internet and the globalisation of technology supply chains, as…
(more)
▼ Cyber-attacks long have been a topic reserved for sci-fi movies and books. With the advance of internet and the globalisation of technology supply chains, as well as the growing political and economic pressure around the world, cyber warfare has become the new weapon of choice for covert state operations, but also rogue organizations. In the last 2 decades multiple major industries have suffered some kind of outage – power generation, manufacturing, oil & gas, transport, and others. A typical industrial system is designed for a life span of more than 20 years, making future issues hard to protect against at the planning phase. No widespread efforts exist to identify such threats, to detect attacks and counteract them. This thesis proposes a practical approach for lower level protection of
control systems based on linear watermarking as a transparent process to provide detection for any malicious activity that might significantly impact the operations of the plant.
Advisors/Committee Members: Ferrari, R. (mentor), Wahls, S. (graduation committee), Gonzalez Silva, J. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: cyber security; Cyber-Physical Systems; networked control systems; SCADA; watermarking
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APA (6th Edition):
Gramatikov, S. T. (. (2020). Cyber-Attack Detection in Networked Control Systems via Encrypted Watermarks. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:aaae482f-4ece-45b0-88e8-edfe14019331
Chicago Manual of Style (16th Edition):
Gramatikov, S T (author). “Cyber-Attack Detection in Networked Control Systems via Encrypted Watermarks.” 2020. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:aaae482f-4ece-45b0-88e8-edfe14019331.
MLA Handbook (7th Edition):
Gramatikov, S T (author). “Cyber-Attack Detection in Networked Control Systems via Encrypted Watermarks.” 2020. Web. 17 Jan 2021.
Vancouver:
Gramatikov ST(. Cyber-Attack Detection in Networked Control Systems via Encrypted Watermarks. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:aaae482f-4ece-45b0-88e8-edfe14019331.
Council of Science Editors:
Gramatikov ST(. Cyber-Attack Detection in Networked Control Systems via Encrypted Watermarks. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:aaae482f-4ece-45b0-88e8-edfe14019331
Princeton University
16.
Gray, Rebecca Alice Louise.
Designing collective decision-making dynamics for multi-agent systems, with inspiration from honeybees
.
Degree: PhD, 2019, Princeton University
URL: http://arks.princeton.edu/ark:/88435/dsp0144558h21w
► For many multi-agent systems, collective decision-making among alternatives is a crucial task. A group of agents may be required to collectively decide on their next…
(more)
▼ For many multi-agent
systems, collective decision-making among alternatives is a crucial task. A group of agents may be required to collectively decide on their next action, and may face limitations on their sensing, communication and computational abilities. A swarm of honeybees choosing a new nest-site faces these challenges, and has been shown to reliably make decisions with accuracy, efficiency and adaptability. The honeybee decision-making dynamics can be modelled by a pitchfork bifurcation, a nonlinear phenomenon that is ubiquitous in animal decision-making.
We describe and analyse a model for collective decision-making that possesses a pitchfork bifurcation. The model allows us to leverage the characteristics of the honeybee dynamics for application in multi-agent network
systems and to extend the capabilities of our decision-making dynamics beyond those of the biological system.
Using tools from nonlinear analysis, we show that our model retains some important characteristics of the honeybee decision-making dynamics, and we examine the impact of system and environmental parameters on the behaviour of the model. We derive an extension to an existing centrality measure to describe the relative influence of each agent, and to show how agent preferences can lead to bias in the network. We design decentralised, adaptive feedback dynamics on a parameter of the model, which ensure that a decision is made. We discuss how this system parameter, which quantifies how much each agent is influenced by its neighbours, provides an intuitive mechanism to involve a human operator in the decision-making. We continue this discussion as we implement our model with a simple robotic system.
Throughout this thesis, we discuss the trade-off in the design of decision-making dynamics between
systems that are robust to unwanted disturbances, but are also sensitive to the values of important system parameters. We show how dynamics modelled by a pitchfork bifurcation exhibit hypersensitivity close to the bifurcation point, and hyperrobustness far away from it.
Advisors/Committee Members: Leonard, Naomi E (advisor), Franci, Alessio (advisor).
Subjects/Keywords: Decentralised control;
Decision-making;
Multi-agent systems;
Networked control systems;
Nonlinear dynamical systems
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APA (6th Edition):
Gray, R. A. L. (2019). Designing collective decision-making dynamics for multi-agent systems, with inspiration from honeybees
. (Doctoral Dissertation). Princeton University. Retrieved from http://arks.princeton.edu/ark:/88435/dsp0144558h21w
Chicago Manual of Style (16th Edition):
Gray, Rebecca Alice Louise. “Designing collective decision-making dynamics for multi-agent systems, with inspiration from honeybees
.” 2019. Doctoral Dissertation, Princeton University. Accessed January 17, 2021.
http://arks.princeton.edu/ark:/88435/dsp0144558h21w.
MLA Handbook (7th Edition):
Gray, Rebecca Alice Louise. “Designing collective decision-making dynamics for multi-agent systems, with inspiration from honeybees
.” 2019. Web. 17 Jan 2021.
Vancouver:
Gray RAL. Designing collective decision-making dynamics for multi-agent systems, with inspiration from honeybees
. [Internet] [Doctoral dissertation]. Princeton University; 2019. [cited 2021 Jan 17].
Available from: http://arks.princeton.edu/ark:/88435/dsp0144558h21w.
Council of Science Editors:
Gray RAL. Designing collective decision-making dynamics for multi-agent systems, with inspiration from honeybees
. [Doctoral Dissertation]. Princeton University; 2019. Available from: http://arks.princeton.edu/ark:/88435/dsp0144558h21w
17.
Pearson, Justin.
Control under energy and time constraints.
Degree: 2018, University of California – eScholarship, University of California
URL: http://www.escholarship.org/uc/item/9fx0g63z
► The performance of a control system is often limited by constraints on timing, bandwidth, and energy. This dissertation explores the trade-offs between constraints on these…
(more)
▼ The performance of a control system is often limited by constraints on timing, bandwidth, and energy. This dissertation explores the trade-offs between constraints on these resources, the control system performance, and the system to be controlled.We begin by considering a networked control system in which the sensor sends its measurements to the controller over a limited-bandwidth communications channel. We explore the observation that the absence of communication nevertheless conveys information – i.e., nothing communication-worthy occurred. This suggests that energy (or other resources consumed by communication) could be saved using the timing of messages to transmit information, rather than the normal practice of transmitting data in the messages themselves. We develop a framework to explore this idea and derive a condition for the existence of a stabilizing controller that captures the trade-off between bandwidth, resource consumption, and the unstable eigenvalues of the linear system to be controlled. A surprising result is that if this condition is satisfied, then one may design a stabilizing controller that consumes resources at an arbitrarily small rate, provided one has access to a sufficiently precise clock. In an extreme example, a large amount of data is encoded into the precise transmission time of a single bit, and the receiver decodes this data from the time the bit is received. This result quantifies the trade-off between bandwidth and time as resources for transmitting information.Next, we use our framework to analyze a family of event-based controllers. We show that these controllers can stabilize a system while consuming resources at a rate that is within 2.5 times the theoretically-minimum rate. These event-based controllers are intuitive and easy to implement, and our stability condition quantifies the cost (in additional required communication resources) that a control engineer pays for the convenience of implementing an event-based controller instead of the relatively more complicated controllers from the first section that use the theoretically-minimum communication rate.A takeaway from these results is that networked and distributed control systems can benefit from precise timing. However, even non-networked systems can benefit from precise timing. We explore this by developing a control architecture that allows a controller running on a non-real-time operating system to run with a high degree of determinacy, even when the OS task scheduler suspends the control task. The architecture employs a small microprocessor to be used as a "real-time processor" that runs independently from the OS and buffers sensor measurement and actuator commands. We implement this on a Beaglebone Black single-board computer and demonstrate that this architecture can significantly improve a controller's performance in the presence of OS preemption.
Subjects/Keywords: Engineering; Electrical engineering; Computer engineering; Communication systems; Control theory; Networked control; Operating systems
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APA (6th Edition):
Pearson, J. (2018). Control under energy and time constraints. (Thesis). University of California – eScholarship, University of California. Retrieved from http://www.escholarship.org/uc/item/9fx0g63z
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Pearson, Justin. “Control under energy and time constraints.” 2018. Thesis, University of California – eScholarship, University of California. Accessed January 17, 2021.
http://www.escholarship.org/uc/item/9fx0g63z.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Pearson, Justin. “Control under energy and time constraints.” 2018. Web. 17 Jan 2021.
Vancouver:
Pearson J. Control under energy and time constraints. [Internet] [Thesis]. University of California – eScholarship, University of California; 2018. [cited 2021 Jan 17].
Available from: http://www.escholarship.org/uc/item/9fx0g63z.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Pearson J. Control under energy and time constraints. [Thesis]. University of California – eScholarship, University of California; 2018. Available from: http://www.escholarship.org/uc/item/9fx0g63z
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Delft University of Technology
18.
Lont, J.J. (author).
Wireless Event-Triggered Control for Water Irrigation Systems.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:336fe05c-4d3a-45a3-9e41-3545e565f10f
► The application of optimal control structures for water irrigation systems (WISs) can be enabled by applying wireless event-triggered control (ETC). The term WIS, is used…
(more)
▼ The application of optimal control structures for water irrigation systems (WISs) can be enabled by applying wireless event-triggered control (ETC). The term WIS, is used to describe open-water channels, that are mainly used to supply water to farmers all around the world. The water levels in these channels need to be controlled, but because of the large scale of WISs, it is very expensive to create centralized control structures when using wired connections between individual sensors, actuators and a centralized controller. Previously, WISs were typically controlled using individual decentralized (non-communicating) controllers. Applying wireless technologies enables communication between (smart) sensors, actuators and a centralized controller without the expense of installing and maintaining cables over lengths of kilometers. To create such a wireless infrastructure, a network needs to be designed, consisting of multiple nodes that are able to communicate with each other over wireless. Each sensor and actuator will be connected to (or integrated in) a node, just like the centralized controller needs to be connected to a node. To minimize the costs related to creating such an infrastructure, the nodes should have their own power source in order to prevent that a maintenance worker has to change the batteries of the nodes periodically. The nodes could be powered using a solar panel, or by using energy harvesting, which could be done by using a turbine to extract energy from the flow in a water channel. When using such energy sources, it is important to minimize the power consumption of the nodes. Most of the consumed power is used in communication when transmitting information. By applying ETC, the amount of communication between the individual parts of the control system is minimized, while still retaining good closed-loop system control using a centralized controller. In this research, techniques on wireless control, ETC and WIS control are combined and the application of an event-triggered centralized controller is presented using simulations, as well as the achievable reduction in communication compared to regular periodic control. Furthermore, a cyber-physical lab setup is designed and built which makes it possible to test these techniques in the Delft Center for Systems and Control (DCSC) lab.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: de Albuquerque Gleizer, G. (mentor), Mazo Espinosa, M. (graduation committee), van Nooijen, R.R.P. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Event-triggered control; Wireless control; Water irrigation systems; Networked cyber-physical systems
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APA (6th Edition):
Lont, J. J. (. (2020). Wireless Event-Triggered Control for Water Irrigation Systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:336fe05c-4d3a-45a3-9e41-3545e565f10f
Chicago Manual of Style (16th Edition):
Lont, J J (author). “Wireless Event-Triggered Control for Water Irrigation Systems.” 2020. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:336fe05c-4d3a-45a3-9e41-3545e565f10f.
MLA Handbook (7th Edition):
Lont, J J (author). “Wireless Event-Triggered Control for Water Irrigation Systems.” 2020. Web. 17 Jan 2021.
Vancouver:
Lont JJ(. Wireless Event-Triggered Control for Water Irrigation Systems. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:336fe05c-4d3a-45a3-9e41-3545e565f10f.
Council of Science Editors:
Lont JJ(. Wireless Event-Triggered Control for Water Irrigation Systems. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:336fe05c-4d3a-45a3-9e41-3545e565f10f
University of Alberta
19.
Allahverdi Charandabi, Behnam.
Robust Filter Design in Networked Control Systems.
Degree: PhD, Department of Electrical and Computer
Engineering, 2014, University of Alberta
URL: https://era.library.ualberta.ca/files/bz60cx460
► In this thesis, we study the problem of robust filtering under network-induced errors. Our intention is to design a robust filter that provides stable estimates…
(more)
▼ In this thesis, we study the problem of robust
filtering under network-induced errors. Our intention is to design
a robust filter that provides stable estimates of the plant states
when the plant model is uncertain, the states are disturbed with an
unknown input, and the measurements are quantized and therefore
erroneous. To this end, we tackle the problem by first studying the
various problems caused by the network and their effects on the
filtering process when there are no model uncertainties and unknown
inputs. Since our final design needs to be robust to unknown
disturbances, we will propose two novel unknown-input linear
filters, which are free of some of the restrictive assumptions seen
in the literature. Both of these filters are based on a modified
plant model, however, one of them has more design parameters and
comes with a heavier computational burden than the other, but in
return it generates slightly smoother estimates of both the states
and the unknown input. Having two distinct classes of filters, one
with the ability to estimate the network-induced errors and one
capable of estimating and rejecting unknown disturbances, we next
propose a two-zone robust filter, which estimates the states with
limited information and under unknown disturbances. The two-zone
idea is based on the fact that the error caused by a linear
quantizer is significant only when the estimates are close to their
real values. Taking advantage of this fact, the estimation space
can be divided into two operating zones based on the reliability of
the received information. Finally, the two-zone filter is adapted
for a fault-tolerant filtering application where the measurements
are assumed to undergo coarse quantization, and unknown
disturbances and model uncertainties are employed to model various
fault scenarios.
Subjects/Keywords: Quantization; Filter Design; Networked Control Systems; Fault-Tolerant Filtering
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APA (6th Edition):
Allahverdi Charandabi, B. (2014). Robust Filter Design in Networked Control Systems. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/bz60cx460
Chicago Manual of Style (16th Edition):
Allahverdi Charandabi, Behnam. “Robust Filter Design in Networked Control Systems.” 2014. Doctoral Dissertation, University of Alberta. Accessed January 17, 2021.
https://era.library.ualberta.ca/files/bz60cx460.
MLA Handbook (7th Edition):
Allahverdi Charandabi, Behnam. “Robust Filter Design in Networked Control Systems.” 2014. Web. 17 Jan 2021.
Vancouver:
Allahverdi Charandabi B. Robust Filter Design in Networked Control Systems. [Internet] [Doctoral dissertation]. University of Alberta; 2014. [cited 2021 Jan 17].
Available from: https://era.library.ualberta.ca/files/bz60cx460.
Council of Science Editors:
Allahverdi Charandabi B. Robust Filter Design in Networked Control Systems. [Doctoral Dissertation]. University of Alberta; 2014. Available from: https://era.library.ualberta.ca/files/bz60cx460
University of Newcastle
20.
Rohr, Eduardo Rath.
State estimation for networked control systems with intermittent data transmission.
Degree: PhD, 2012, University of Newcastle
URL: http://hdl.handle.net/1959.13/936847
► Research Doctorate - Doctor of Philosophy (PhD)
Classic control theory relies on the assumption that sensors, estimators, controllers, and actuators communicate through transparent links. When…
(more)
▼ Research Doctorate - Doctor of Philosophy (PhD)
Classic control theory relies on the assumption that sensors, estimators, controllers, and actuators communicate through transparent links. When the communication between these elements is subject to effects like quantisation, delay, and loss of packets, the links can no longer be considered transparent and the basic theory must be revisited. These effects are typically present in systems that use digital wireless communication to share information amongst the different components of the system. This thesis helps to answer the question of how the loss of packets containing measurements from a system affects the performance of its state estimator. In particular, due to its wide use and optimality, the Kalman filter is the state estimator studied. The natural way to evaluate the performance of an estimator is to study the covariance of its estimation error. When measurements are subject to random packet loss, the estimation error covariance does not converge to a steady state, but becomes a random variable whose statistical properties are studied in this thesis. The main contribution of this thesis is the development of a necessary condition and a sufficient condition, having only a trivial gap between them, to determine whether the asymptotic expected value of the estimation error covariance is bounded or not. The conditions apply for a fairly general class of systems and packet drop models, extending previous results and creating a unified approach. Other contributions include bounds on the expected value and bounds on the cumulative distribution function of the estimation error covariance. In both cases, numeric methods to obtain a sequence of upper and lower bounds that can be made arbitrarily tight at the expense of increased computational effort are presented. A detailed example showing an important application of such bounds is also presented. The theoretical tools developed here contribute to the area known as networked control systems, which in turn provides guidance for the design and implementation of network protocols, devices, and integrated systems benefiting from wireless technologies.
Advisors/Committee Members: University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science.
Subjects/Keywords: networked control systems; Kalman filtering with intermittent observations; state estimation
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APA (6th Edition):
Rohr, E. R. (2012). State estimation for networked control systems with intermittent data transmission. (Doctoral Dissertation). University of Newcastle. Retrieved from http://hdl.handle.net/1959.13/936847
Chicago Manual of Style (16th Edition):
Rohr, Eduardo Rath. “State estimation for networked control systems with intermittent data transmission.” 2012. Doctoral Dissertation, University of Newcastle. Accessed January 17, 2021.
http://hdl.handle.net/1959.13/936847.
MLA Handbook (7th Edition):
Rohr, Eduardo Rath. “State estimation for networked control systems with intermittent data transmission.” 2012. Web. 17 Jan 2021.
Vancouver:
Rohr ER. State estimation for networked control systems with intermittent data transmission. [Internet] [Doctoral dissertation]. University of Newcastle; 2012. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1959.13/936847.
Council of Science Editors:
Rohr ER. State estimation for networked control systems with intermittent data transmission. [Doctoral Dissertation]. University of Newcastle; 2012. Available from: http://hdl.handle.net/1959.13/936847
21.
Lopez-Echevarria, Daniel.
Variable sampling compensation of networked control systems with delays using neural networks.
Degree: PhD, Electrical and Computer Engineering, 2011, Oregon State University
URL: http://hdl.handle.net/1957/21820
► In networked control systems (NCS) information or packets usually flow from a sensor or a set of sensors to a remotely located controller. Then the…
(more)
▼ In
networked control systems (NCS) information or packets usually flow from a
sensor or a set of sensors to a remotely located controller. Then the controller
processes the received information and sends a series of
control commands to the
actuators through a communication network which could be either wireless or
wired. For any type of communication network, time delays are an inherent
problem and depending on the conditions of the network they can be constant,
variable or even of random nature. Time-delays occurring from sensor to
controller and from controller to actuators may cause important system
performance degradation or even instability. This work proposes a novel strategy
of using the predictive capabilities of artificial neural networks (NN), particularly
the application of an adaptive NN, to minimize the effects of time delays in the
feedback
control loop of NCS. We adopt an adaptive time delay neural network
(TDNN) to predict future time-delays based on a given history of delays that are
particularly present on the network where the corresponding system belongs to.
The adaptive nature of a TDNN allows the prediction of unexpected variations of
time-delays which might not be present in the training set of a known history of
delays. This is an important characteristic for real time applications. Using
predicted time delays, different methodologies can be used to alleviate effects of
such delays on NCS. Our focus here is on the development of an observer-based
variable sampling period model, and this dissertation describes how this method
can be used as an effective solution for this problem. Generally speaking, the
predicted time-delay values are used for the discretization of a continuous-time
linear time invariant system model transforming it into a discrete-time linear
time variant system model. In this dissertation, the practical phenomenon of packet
dropout is also addressed.
Advisors/Committee Members: Magana, Mario E. (advisor), Nguyen, Thinh P. (committee member).
Subjects/Keywords: Networked Control Systems
…2 Related Work and Problem Formulation
8
2.1
Time Delay in Networked Control Systems… …wireless communication techniques to networked control systems (NCS). Wireless
systems… …time series [3]. In networked control systems,
prediction based on NN has been… …delays and packet dropouts in networked control systems using neural networks. The aim is to… …in networked control systems. Each model
is designed to compensate for the effects caused by…
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APA ·
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MLA ·
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to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Lopez-Echevarria, D. (2011). Variable sampling compensation of networked control systems with delays using neural networks. (Doctoral Dissertation). Oregon State University. Retrieved from http://hdl.handle.net/1957/21820
Chicago Manual of Style (16th Edition):
Lopez-Echevarria, Daniel. “Variable sampling compensation of networked control systems with delays using neural networks.” 2011. Doctoral Dissertation, Oregon State University. Accessed January 17, 2021.
http://hdl.handle.net/1957/21820.
MLA Handbook (7th Edition):
Lopez-Echevarria, Daniel. “Variable sampling compensation of networked control systems with delays using neural networks.” 2011. Web. 17 Jan 2021.
Vancouver:
Lopez-Echevarria D. Variable sampling compensation of networked control systems with delays using neural networks. [Internet] [Doctoral dissertation]. Oregon State University; 2011. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1957/21820.
Council of Science Editors:
Lopez-Echevarria D. Variable sampling compensation of networked control systems with delays using neural networks. [Doctoral Dissertation]. Oregon State University; 2011. Available from: http://hdl.handle.net/1957/21820
Loughborough University
22.
Husein, Sajed.
Networking in hard real time vehicle applications.
Degree: PhD, 1993, Loughborough University
URL: http://hdl.handle.net/2134/27946
► Computer-based control systems are widely used in vehicle applications (e.g., aircraft, marine and automobile). The earlier forms of control systems were typified by a central…
(more)
▼ Computer-based control systems are widely used in vehicle applications (e.g., aircraft, marine and automobile). The earlier forms of control systems were typified by a central computer connected to sub-systems using hard-wired point-to-point communication links. However, such systems suffered from several major drawbacks: (i) fault-tolerance problems, (ii) maintenance and cabling costs, and (iii) excessive cable weight. These problems were minimised by using master-slave networks with distributed control architecture. However, using such networks raises the question of fault-tolerance and integrity of the communication system. In view of this, efforts have been made to employ the architecture provided by the IEEE 802.4 Token Bus for real time control applications although the performance of the Token Bus is not adequate for applications where fast response times are required.
Subjects/Keywords: 629.8; Networked control systems
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Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Husein, S. (1993). Networking in hard real time vehicle applications. (Doctoral Dissertation). Loughborough University. Retrieved from http://hdl.handle.net/2134/27946
Chicago Manual of Style (16th Edition):
Husein, Sajed. “Networking in hard real time vehicle applications.” 1993. Doctoral Dissertation, Loughborough University. Accessed January 17, 2021.
http://hdl.handle.net/2134/27946.
MLA Handbook (7th Edition):
Husein, Sajed. “Networking in hard real time vehicle applications.” 1993. Web. 17 Jan 2021.
Vancouver:
Husein S. Networking in hard real time vehicle applications. [Internet] [Doctoral dissertation]. Loughborough University; 1993. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/2134/27946.
Council of Science Editors:
Husein S. Networking in hard real time vehicle applications. [Doctoral Dissertation]. Loughborough University; 1993. Available from: http://hdl.handle.net/2134/27946
Delft University of Technology
23.
Vermeer, R.F.T. (author).
Distributed Model Predictive Control for Multi-Vehicle Autonomous Driving: Cooperative vs. Non-cooperative Control.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:efa8dd54-ee76-4c48-ae7f-f12b10f74073
► In this thesis, we consider the problem of controlling multiple autonomous vehicles in a highway scenario, via MPC. By iteratively solving a motion planning OCP,…
(more)
▼ In this thesis, we consider the problem of controlling multiple autonomous vehicles in a highway scenario, via MPC. By iteratively solving a motion planning OCP, MPC is perfectly suited for unknown dynamic environments, while optimally computing path and vehicle inputs. Moreover, MPC can ensure the satisfaction of collision avoidance constraints, a prerequisite for safe automated driving. The collision avoidance constraints render the OCP non-convex. This thesis tackles this non-convexity by either designing nonlinear MPC controllers, or by convexifying these non-convex constraints. Moreover, control of a large, networked system of automated vehicles is achieved by designing local, subsystem-based controllers. We analyse three different algorithms to distribute the plantwide OCP. All controllers are subjected to an objective analysis and compared to see which is the most efficient and most practical to implement. Centralized MPC is used as benchmark, since this gives the plantwide optimal solution. The first decomposed algorithm is decentralized MPC, where subsystems communicate a single time every MPC iteration and compute their new trajectory based on the previously communicated trajectory of neighboring subsystems. The second method is based on sub-optimal cooperative distributed MPC. Here, vehicles perform multiple sub-optimal iterations of a Gauss-Jacobi type distributed optimization. For the last method, based on a Generalized Potential Game, the vehicles sequentially solve and communicate the solution of their local OCP in order to find an ε-Nash Equilibrium. By relying on additional constraints or fixed ordering among vehicles, all three controllers are able to recursively feasible compute their own trajectory while avoiding other vehicles. The distributed controllers are assessed in two different scenarios, using three different criteria, i.e., the overall effectiveness of the controller, the local effectiveness of the controller and the progress made, by each vehicle in the simulation. The first criteria gives an indication of the level of cooperation among vehicles, the second shows the individual satisfaction of each vehicle with respect to its reference, and the last represents the overall progress each vehicle has made in the highway simulation.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Grammatico, S. (mentor), Bianchi, M. (mentor), Dabiri, A. (graduation committee), Gonçalves Melo Pequito, S.D. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: MPC; Distributed Control; Game Theory; Networked systems; Automated driving
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APA (6th Edition):
Vermeer, R. F. T. (. (2020). Distributed Model Predictive Control for Multi-Vehicle Autonomous Driving: Cooperative vs. Non-cooperative Control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:efa8dd54-ee76-4c48-ae7f-f12b10f74073
Chicago Manual of Style (16th Edition):
Vermeer, R F T (author). “Distributed Model Predictive Control for Multi-Vehicle Autonomous Driving: Cooperative vs. Non-cooperative Control.” 2020. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:efa8dd54-ee76-4c48-ae7f-f12b10f74073.
MLA Handbook (7th Edition):
Vermeer, R F T (author). “Distributed Model Predictive Control for Multi-Vehicle Autonomous Driving: Cooperative vs. Non-cooperative Control.” 2020. Web. 17 Jan 2021.
Vancouver:
Vermeer RFT(. Distributed Model Predictive Control for Multi-Vehicle Autonomous Driving: Cooperative vs. Non-cooperative Control. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:efa8dd54-ee76-4c48-ae7f-f12b10f74073.
Council of Science Editors:
Vermeer RFT(. Distributed Model Predictive Control for Multi-Vehicle Autonomous Driving: Cooperative vs. Non-cooperative Control. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:efa8dd54-ee76-4c48-ae7f-f12b10f74073
Delft University of Technology
24.
Bregman, Sander (author).
Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:686ff261-7dee-4472-bae9-8f70a6b8c5e8
► In this thesis, a control design problem, in which communication between different elements of the control system takes place through a shared (possibly wireless) channel,…
(more)
▼ In this thesis, a control design problem, in which communication between different elements of the control system takes place through a shared (possibly wireless) channel, is considered. With the implementation of the proposed approach, the use of limited resources such as network bandwidth and battery life may be reduced. The proposal consists of a robust model predictive control (MPC) approach, that is only executed at instants at which a decentralized triggering mechanism triggers. As long as no triggering occurs, inputs that have been computed at the previous MPC update are used. The triggering mechanism uses the trajectories from the MPC to calculate bounds on the error between each actual state and predicted state, for all instants up to the horizon. When all individual errors are inside their respective bounds at some instant, violation at the next instant still results in an MPC problem that is (1) guaranteed to have a feasible solution and (2) for which an upper bound for the objective function value is given that is lower than the value at the previous instant. These two properties result in stability of the closed loop system. Simulation results are given to demonstrate the effectiveness of the proposed approach. Compared to approaches that solve similar problems that can be found in literature, the proposed approach differs in the need for weaker assumptions and/or in the maximization of the bounds on the error signal. This is made possible by letting the triggering mechanism depend on the sequences that are generated by the MPC at the last update instant, as well as the measured state.
Systems and Control
Advisors/Committee Members: Sharifi Kolarijani, Arman (mentor), Keviczky, Tamas (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: event triggered; model predictive control; robust control; networked control systems; triggering mechanism
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APA (6th Edition):
Bregman, S. (. (2017). Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:686ff261-7dee-4472-bae9-8f70a6b8c5e8
Chicago Manual of Style (16th Edition):
Bregman, Sander (author). “Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism.” 2017. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:686ff261-7dee-4472-bae9-8f70a6b8c5e8.
MLA Handbook (7th Edition):
Bregman, Sander (author). “Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism.” 2017. Web. 17 Jan 2021.
Vancouver:
Bregman S(. Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:686ff261-7dee-4472-bae9-8f70a6b8c5e8.
Council of Science Editors:
Bregman S(. Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:686ff261-7dee-4472-bae9-8f70a6b8c5e8
University of Notre Dame
25.
Meng Xia.
Analysis and Design of Cyber-physical Systems Using
Passivity and Passivation</h1>.
Degree: Electrical Engineering, 2015, University of Notre Dame
URL: https://curate.nd.edu/show/n296ww74n03
► This dissertation studies the analysis and design of Cyber-physical Systems (CPS) using passivity and passivation theory, concentrating on applications in automotive systems. Passivity and…
(more)
▼ This dissertation studies the analysis and
design of Cyber-physical
Systems (CPS) using passivity and
passivation theory, concentrating on applications in automotive
systems. Passivity and dissipativity have shown great promise in
the design of CPS due to many properties they can provide, such as
stability, robustness and compositionality. The main contributions
of this dissertation are summarized as follows. First, we show that
passivity and dissipativity properties of a system can be implied
from its approximate models given that the model is ‘close’ to the
system dynamics in a suitably defined sense. To illustrate, we
consider approximation methods such as linearization, model
reduction, discretization and quantization. Second, to apply
passivity-based
control, we use a passivation method that can
guarantee desired passivity levels for the system. The passivation
method allows the use of a non-passive controller to stabilize or
passivate another plant. In particular, the passivation method can
be applied to
systems with input-output delay, such as human
operators. Third, when
control algorithms are implemented in
software, delays cannot be avoided. The passivation method can be
applied in order to guarantee stability and optimize system
performance in the presence of time delay. As an application, we
study the passivation method in adaptive cruise
control design for
automotive
systems. Finally, we consider a state estimation problem
in CPS where multiple processes share the communication medium. We
analytically calculate the performance expressions for
time-triggered and event-triggered schemes under various contention
resolution mechanisms. The result demonstrates that a simple
time-triggered scheme may perform better than an event-triggered
scheme when the effects of the communication strategies are
explicitly considered. In summary, this dissertation focuses on the
analysis and design of CPS using passivity and passivation theory,
concentrating on
systems with human controllers and automotive
systems.
Advisors/Committee Members: Peter Bauer, Committee Member, Hai Lin, Committee Member, Vijay Gupta, Committee Member, Panos Antsaklis, Committee Chair.
Subjects/Keywords: cyber-physical systems; passivity and dissipativity; passivation; networked control systems; automotive systems
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APA ·
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Manager
APA (6th Edition):
Xia, M. (2015). Analysis and Design of Cyber-physical Systems Using
Passivity and Passivation</h1>. (Thesis). University of Notre Dame. Retrieved from https://curate.nd.edu/show/n296ww74n03
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Xia, Meng. “Analysis and Design of Cyber-physical Systems Using
Passivity and Passivation</h1>.” 2015. Thesis, University of Notre Dame. Accessed January 17, 2021.
https://curate.nd.edu/show/n296ww74n03.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Xia, Meng. “Analysis and Design of Cyber-physical Systems Using
Passivity and Passivation</h1>.” 2015. Web. 17 Jan 2021.
Vancouver:
Xia M. Analysis and Design of Cyber-physical Systems Using
Passivity and Passivation</h1>. [Internet] [Thesis]. University of Notre Dame; 2015. [cited 2021 Jan 17].
Available from: https://curate.nd.edu/show/n296ww74n03.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Xia M. Analysis and Design of Cyber-physical Systems Using
Passivity and Passivation</h1>. [Thesis]. University of Notre Dame; 2015. Available from: https://curate.nd.edu/show/n296ww74n03
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Australian National University
26.
Ye, Mengbin.
Opinion Dynamics and the Evolution of Social Power in Social Networks
.
Degree: 2018, Australian National University
URL: http://hdl.handle.net/1885/146402
► A fundamental aspect of society is the exchange and discussion of opinions between individuals, occurring in mediums and situations as varied as company boardrooms, elementary…
(more)
▼ A fundamental aspect of society is the exchange and discussion of
opinions between individuals, occurring in mediums and situations
as varied as company boardrooms, elementary school classrooms and
online social media. This thesis studies several mathematical
models of how an individual’s opinion(s) evolves via
interaction with others in a social network, developed to reflect
and capture different socio-psychological processes that occur
during the interactions.
In the first part, and inspired by Solomon E. Asch’s seminal
experiments on conformity, a novel discrete-time model of opinion
dynamics is proposed, with each individual having both an
expressed and a private opinion on the same topic. Crucially, an
individual’s expressed opinion is altered from the
individual’s private opinion due to pressures to conform to the
majority opinion of the social network. Exponential convergence
of the opinion dynamical system to a unique configuration is
established for general networks. Several conclusions are
established, including how differences between an individual’s
expressed and private opinions arise, and how to estimate
disagreement among the private opinions at equilibrium. Asch’s
experiments are revisited and re-examined, and then it is shown
that a few extremists can create “pluralistic ignorance”,
where people believe there is majority support for a position but
in fact the position is privately rejected by the majority of
individuals!
The second part builds on the recently proposed discrete-time
DeGroot–Friedkin model, which describes the evolution of an
individual’s self-confidence (termed social power) in his/her
opinion over the discussion of a sequence of issues. Using
nonlinear contraction analysis, exponential convergence to a
unique equilibrium is established for networks with constant
topology. Networks with issue-varying topology (which remain
constant for any given issue) are then studied; exponential
convergence to a unique limiting trajectory is established. In a
social context, this means that each individual forgets his/her
initial social power exponentially fast; in the limit, his/her
social power for a given issue depends only on the previously
occurring sequence of dynamic topology. Two further related works
are considered; a network modification problem, and a different
convergence proof based on Lefschetz Fixed Point Theory.
In the final part, a continuous-time model is proposed to capture
simultaneous discussion of logically interdependent topics; the
interdependence is captured by a “logic matrix”. When no
individual remains attached to his/her initial opinion, a
necessary and sufficient condition for the network to reach a
consensus of opinions is provided. This condition depends on the
interplay between the network interactions and the logic…
Subjects/Keywords: opinion dynamics;
social networks;
networked control systems;
multi-agent systems;
influence network;
networked systems;
systems and control;
Asch conformity experiments;
pluralistic ignorance;
social power;
DeGroot;
Friedkin
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ye, M. (2018). Opinion Dynamics and the Evolution of Social Power in Social Networks
. (Thesis). Australian National University. Retrieved from http://hdl.handle.net/1885/146402
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ye, Mengbin. “Opinion Dynamics and the Evolution of Social Power in Social Networks
.” 2018. Thesis, Australian National University. Accessed January 17, 2021.
http://hdl.handle.net/1885/146402.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ye, Mengbin. “Opinion Dynamics and the Evolution of Social Power in Social Networks
.” 2018. Web. 17 Jan 2021.
Vancouver:
Ye M. Opinion Dynamics and the Evolution of Social Power in Social Networks
. [Internet] [Thesis]. Australian National University; 2018. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1885/146402.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ye M. Opinion Dynamics and the Evolution of Social Power in Social Networks
. [Thesis]. Australian National University; 2018. Available from: http://hdl.handle.net/1885/146402
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of California – Riverside
27.
Li, Yiqian.
Performance Limitations of Linear Systems over Additive White Noise Channels.
Degree: Electrical Engineering, 2011, University of California – Riverside
URL: http://www.escholarship.org/uc/item/1gm1v27b
► This thesis develops a framework to address the performance limits of feedback control systems with communication constraints modeled by additive white noise channels. By searching…
(more)
▼ This thesis develops a framework to address the performance limits of feedback control systems with communication constraints modeled by additive white noise channels. By searching for the fundamental bounds on the control performance, we explore the relationship between the known limitations caused by the intrinsic properties of linear control systems and the characteristics of the communication channels. We analyze multiple-input multiple-output systems with the channel placed at either the uplink or downlink. We also study the stabilization conditions for single-input single-output systems when both channels are present in the closed loop. For systems with uplink channels, we derive explicitly the analytical expressions for the necessary and sufficient conditions for stabilization and the best achievable performance under the channel input power constraint. The optimal tracking performance exhibits clear dependence on the power constraint and noise levels of the channel, and additionally on the unstable poles and nonminimum phase zeros of the plant. For systems with downlink channels, we derive a lower bound for the performance that incorporates the plant gain in the entire frequency range. Moreover, we use and optimize scaling as a method of channel compensation to exploit the channel and deal with the white noise. This simple strategy is shown to significantly improve the tracking performance. Also, we attempt to discover the optimal power allocation for each of the uplink parallel channels to achieve the best tracking performance. It is shown that, the optimal strategy is to allocate more power to a more problematic channel, in contrast to the widely-known ``water-filling'' solution, which is to maximize the capacity. Lastly, for first-order systems controlled over both uplink and downlink channels, we analyze the achievable region of the signal-to-noise ratios of the channels for stabilizability.
Subjects/Keywords: Electrical Engineering; System Science; Communication constraints; Fundamental limitations; Networked control systems; Optimal control; Tracking performance
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Manager
APA (6th Edition):
Li, Y. (2011). Performance Limitations of Linear Systems over Additive White Noise Channels. (Thesis). University of California – Riverside. Retrieved from http://www.escholarship.org/uc/item/1gm1v27b
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Li, Yiqian. “Performance Limitations of Linear Systems over Additive White Noise Channels.” 2011. Thesis, University of California – Riverside. Accessed January 17, 2021.
http://www.escholarship.org/uc/item/1gm1v27b.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Li, Yiqian. “Performance Limitations of Linear Systems over Additive White Noise Channels.” 2011. Web. 17 Jan 2021.
Vancouver:
Li Y. Performance Limitations of Linear Systems over Additive White Noise Channels. [Internet] [Thesis]. University of California – Riverside; 2011. [cited 2021 Jan 17].
Available from: http://www.escholarship.org/uc/item/1gm1v27b.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Li Y. Performance Limitations of Linear Systems over Additive White Noise Channels. [Thesis]. University of California – Riverside; 2011. Available from: http://www.escholarship.org/uc/item/1gm1v27b
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Delft University of Technology
28.
Schalkwijk, Paul (author).
Automating scheduler design for Networked Control Systems with Event-Based Control: An approach with Timed Automata.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:6ae619f2-9247-4c30-9710-b1ddf362896d
► As the use of Networked Control Systems increases, the need for control methods with more efficient network usage also grows. These methods require a more…
(more)
▼ As the use of
Networked Control Systems increases, the need for
control methods with more efficient network usage also grows. These methods require a more sophisticated way of pre- dicting their traffic, and an approach for this is using a formal modelling approach using Timed Automata. Timed Automata have been used for over 25 years for several scheduling problems, but have not been adopted by the
control systems community for scheduling event- triggered
systems. This is a recent development for which no easy to use software tools have been developed, and performance in real-world applications is yet untested. In this master thesis, an existing approach for scheduling event-triggered controllers is implemented in a set of tools. This approach creates abstractions of communication traffic, models them as timed automata and finds a scheduler avoiding communication conflicts. This set of tools is used to test the scalability with respect to abstraction accuracy and number of
systems that can be connected. The set of tools can be used in the future to further improve on the techniques used.
Advisors/Committee Members: Mazo Espinosa, Manuel (mentor), de Albuquerque Gleizer, Gabriel (graduation committee), Verwer, Sicco (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: scheduling; event-triggered control; timed automata; traffic abstractions; networked control systems; uppaal
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APA ·
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Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Schalkwijk, P. (. (2019). Automating scheduler design for Networked Control Systems with Event-Based Control: An approach with Timed Automata. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:6ae619f2-9247-4c30-9710-b1ddf362896d
Chicago Manual of Style (16th Edition):
Schalkwijk, Paul (author). “Automating scheduler design for Networked Control Systems with Event-Based Control: An approach with Timed Automata.” 2019. Masters Thesis, Delft University of Technology. Accessed January 17, 2021.
http://resolver.tudelft.nl/uuid:6ae619f2-9247-4c30-9710-b1ddf362896d.
MLA Handbook (7th Edition):
Schalkwijk, Paul (author). “Automating scheduler design for Networked Control Systems with Event-Based Control: An approach with Timed Automata.” 2019. Web. 17 Jan 2021.
Vancouver:
Schalkwijk P(. Automating scheduler design for Networked Control Systems with Event-Based Control: An approach with Timed Automata. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 17].
Available from: http://resolver.tudelft.nl/uuid:6ae619f2-9247-4c30-9710-b1ddf362896d.
Council of Science Editors:
Schalkwijk P(. Automating scheduler design for Networked Control Systems with Event-Based Control: An approach with Timed Automata. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:6ae619f2-9247-4c30-9710-b1ddf362896d
University of Melbourne
29.
Premaratne, Upeka.
Network traffic reduction strategies for packet switched networked control systems.
Degree: 2014, University of Melbourne
URL: http://hdl.handle.net/11343/52094
► A Networked Control System (NCS), is a control system that uses a shared communication network for transmitting sensory data and control inputs. The use of…
(more)
▼ A Networked Control System (NCS), is a control system that uses a shared communication network for transmitting sensory data and control inputs. The use of packet switched networks for the control of systems with continuous dynamics is an emerging area in control engineering due to lower infrastructure costs and higher flexibility. However, the communication network also introduces delay, jitter, medium access restrictions and packet drops which have undesirable effects on the control system. Congestion in a communication network can augment these issues. There are two methods to reduce congestion in a NCS. The first method is to use a dedicated communication network for the NCS to isolate it from external traffic. This would be infeasible in an internetworked or wireless environment. The other possible method is to reduce the effective sampling rate of the sensors and control signal output of the NCS. This results in the reduced generation of network traffic in the form of packets.
Among the options for reducing the effective sampling rate are event based sampling, speech coding techniques and statistical coding. In most cases statistical coding is not a viable option due to the difficulty in obtaining signal statistics for all control scenarios. In event based sampling, sampling takes place when change in the signal value exceeds a predetermined threshold. It is highly effective in reducing the effective sampling rate provided that the maximum change in the signal is bounded. Speech coding techniques were originally developed to reduce bandwidth by exploiting the high dependency of adjacent samples in human speech signals. Like human speech, control variables generally do not change by large amounts at steady state.
In this thesis, new strategies for reduction of network traffic in NCS are formulated by combining event based sampling and speech coding techniques. The contributions include the development of Event Triggered Adaptive Differential Modulation (ETADM), a new traffic reduction method for control systems with continuous dynamics that can be formally proven to be stable using Razumikhin-type theorems. It is also robust to bounded packet drops. In Deadband Error Modulation (DEM) an improvement over ETADM, the traffic reduction capability is improved by using a deadband to increase the period of asymptotic cycles. When used with linear plants, DEM is also capable of attenuating the signal reconstruction error. Thus, the traffic reduction of DEM for a linear plant is better than Memory Based Event Triggering (MBET) for specific values of encoding parameters. Further contributions include the Luus-Jaakola Extremum Seeking (LJES) algorithm. The LJES is an algorithm for Extremum Seeing Control (ESC) that needs to transmit data only when a better optimum solution for the objective function is found. This results in sporadic packet transmission which makes it highly suitable for NCS. The LJES has the additional novelty of direct evaluation of constraints (inequality, well-posed equality and ill-posed…
Subjects/Keywords: sporadic sampling; networked control systems; network traffic reduction; event based sampling; extremum seeking control
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APA ·
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MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Premaratne, U. (2014). Network traffic reduction strategies for packet switched networked control systems. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/52094
Chicago Manual of Style (16th Edition):
Premaratne, Upeka. “Network traffic reduction strategies for packet switched networked control systems.” 2014. Doctoral Dissertation, University of Melbourne. Accessed January 17, 2021.
http://hdl.handle.net/11343/52094.
MLA Handbook (7th Edition):
Premaratne, Upeka. “Network traffic reduction strategies for packet switched networked control systems.” 2014. Web. 17 Jan 2021.
Vancouver:
Premaratne U. Network traffic reduction strategies for packet switched networked control systems. [Internet] [Doctoral dissertation]. University of Melbourne; 2014. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/11343/52094.
Council of Science Editors:
Premaratne U. Network traffic reduction strategies for packet switched networked control systems. [Doctoral Dissertation]. University of Melbourne; 2014. Available from: http://hdl.handle.net/11343/52094
30.
Khodabandehlou, Hamid.
Neural Networks: Training and Application to Nonlinear System Identification and Control.
Degree: 2018, University of Nevada – Reno
URL: http://hdl.handle.net/11714/3401
► This dissertation investigates training neural networks for system identification and classification. The research contains two main contributions as follow:1. Reducing number of hidden layer nodes…
(more)
▼ This dissertation investigates training neural networks for system identification and classification. The research contains two main contributions as follow:1. Reducing number of hidden layer nodes using a feedforward componentThis research reduces the number of hidden layer nodes and training time of neural networks to make them more suited to online identification and
control applications by adding a parallel feedforward component. Implementing the feedforward component with a wavelet neural network and an echo state network provides good models for nonlinear
systems.The wavelet neural network with feedforward component along with model predictive controller can reliably identify and
control a seismically isolated structure during earthquake. The network model provides the predictions for model predictive
control. Simulations of a 5-story seismically isolated structure with conventional lead-rubber bearings showed significant reductions of all response amplitudes for both near-field (pulse) and far-field ground motions, including reduced deformations along with corresponding reduction in acceleration response. The controller effectively regulated the apparent stiffness at the isolation level. The approach is also applied to the online identification and
control of an unmanned vehicle. Lyapunov theory is used to prove the stability of the wavelet neural network and the model predictive controller. 2. Training neural networks using trajectory based optimization approachesTraining neural networks is a nonlinear non-convex optimization problem to determine the weights of the neural network. Traditional training algorithms can be inefficient and can get trapped in local minima. Two global optimization approaches are adapted to train neural networks and avoid the local minima problem. Lyapunov theory is used to prove the stability of the proposed methodology and its convergence in the presence of measurement errors. The first approach transforms the constraint satisfaction problem into unconstrained optimization. The constraints define a quotient gradient system (QGS) whose stable equilibrium points are local minima of the unconstrained optimization. The QGS is integrated to determine local minima and the local minimum with the best generalization performance is chosen as the optimal solution. The second approach uses the QGS together with a projected gradient system (PGS). The PGS is a nonlinear dynamical system, defined based on the optimization problem that searches the components of the feasible region for solutions. Lyapunov theory is used to prove the stability of PGS and QGS and their stability under presence of measurement noise.
Advisors/Committee Members: Fadali, Mohammed Sami (advisor), Parvin, Bahram (committee member), Livani, Hanif (committee member), Xu, Hao (committee member), Pekcan, Gokhan (committee member).
Subjects/Keywords: Classification; Lyapunov Stability; Model Predictive Control; Networked Control Systems; Neural Networks; System Identification
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APA (6th Edition):
Khodabandehlou, H. (2018). Neural Networks: Training and Application to Nonlinear System Identification and Control. (Thesis). University of Nevada – Reno. Retrieved from http://hdl.handle.net/11714/3401
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Khodabandehlou, Hamid. “Neural Networks: Training and Application to Nonlinear System Identification and Control.” 2018. Thesis, University of Nevada – Reno. Accessed January 17, 2021.
http://hdl.handle.net/11714/3401.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Khodabandehlou, Hamid. “Neural Networks: Training and Application to Nonlinear System Identification and Control.” 2018. Web. 17 Jan 2021.
Vancouver:
Khodabandehlou H. Neural Networks: Training and Application to Nonlinear System Identification and Control. [Internet] [Thesis]. University of Nevada – Reno; 2018. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/11714/3401.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Khodabandehlou H. Neural Networks: Training and Application to Nonlinear System Identification and Control. [Thesis]. University of Nevada – Reno; 2018. Available from: http://hdl.handle.net/11714/3401
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
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