Coordination Control of Distributed Systems

Abstract

Includes index. This book describes how control of distributed systems can be advanced by an integration of control, communication, and computation. The global control objectives are met by judicious combinations of local and nonlocal observations taking advantage of various forms of communication exchanges between distributed controllers. Control architectures are considered according to increasing degrees of cooperation of local controllers: fully distributed or decentralized control, control with communication between controllers, coordination control, and multilevel control. The book covers also topics bridging computer science, communication, and control, like communication for control of networks, average consensus for distributed systems, and modeling and verification of discrete and of hybrid systems. Examples and case studies are introduced in the first part of the text and developed throughout the book. They include: control of underwater vehicles, automated-guided vehicles on a container terminal, control of a printer as a complex machine, and control of an electric power system. The book is composed of short essays each within eight pages, including suggestions and references for further research and reading. By reading the essays collected in the book Coordination Control of Distributed Systems, graduate students and post-docs will be introduced to the research frontiers in control of decentralized and of distributed systems. Control theorists and practitioners with backgrounds in electrical, mechanical, civil and aerospace engineering will find in the book information and inspiration to transfer to their fields of interest the state-of-art in coordination control. Part I Case Studies in Control of Distributed Systems.-C4C Case Studies -- A Model Predictive Control Approach to AUVs Motion Coordination.- Dynamic Optimization Techniques for the Motion Coordination of Autonomous Vehicles.- Coordination challenges in networked vehicle systems: Are we missing something? -- Leader-Follower Coordination Control for Urban Traffic -- Prediction of Traffic Flow in a Road Network -- Zone-Control Based Traffic Control of Automated Guided Vehicles -- Coordination Control of Complex Machines -- Coordinated Model Predictive Control for Avoiding Voltage Collapse in an Electric Power Transmission Net -- Part II Architectures of distributed systems and their control -- System Architectures of Distributed and of Multilevel Systems -- Control Architectures -- Part III Coordination Control -- What is Coordination Control? -- Introduction to Coordinated Linear Systems -- Coordinated Linear Systems -- LQ Optimal Control for Coordinated Linear Systems -- Supervisory Control of Discrete-Event Systems -- Coordination Control of Distributed Discrete-Event Systems -- Part IV Distributed Control -- What is Team Theory?.- Team Theory and Information Structures of Stochastic Dynamic Decentralized Decision/- Signaling of Information -- Distributed Control of Manufacturing Networks: Analysis of Performance -- Part V Distributed Control with Communication -- What is Distributed Control with Direct Communication between Controllers? -- Communication Constraints in Control and Observation of Distributed Systems -- Information Structures -- Control Theory with Information Structures -- Common, Correlated, and Private Information in Control of Decentralized Systems -- Distributed State Estimation with Communication of Observations -- Part VI Multilevel Control -- Complexity and Scalability of Hierarchical Control for Networked Infrastructures.- Hierarchical Control for Road Traffic Management.-Part VII Communication and Control of Distributed Systems -- Layered Backpressure Scheduling for Delay-Aware Routing in Ad Hoc Networks -- Cache Control Issues in Pub-Sub Networks and Wireless Sensor Networks.- Detecting Influential Nodes in Complex Networks with Range Probabilistic Control Centrality -- Model Predictive Controllers over Differentiated Services Packet Networks -- A System C/Matlab Co-Simulation Tool for Networked Control Systems -- On Shannon?s Duality of a Source and a Channel and Nonanticipative Communication and Communication -- Directed information on Abstract Spaces: Properties and Extremum Problems -- Information Nonanticipative Rate Distortion Function and its Applications -- Nonanticipative Duality of Sources and Channels with Memory and Feedback -- Part VIII Informatics of Distributed Systems? Modeling and Verification -- An Introduction to the Verification of Hybrid Systems using ARIADNE -- Formal Verification Applied to Robotic Surgery -- Computing Reachable Sets of Differential Inclusions -- Modeling Objects Moving in a Complex Environment with World Automata -- Distributed Average Consensus in Digraphs -- Part IX Research Program -- Research Program for Control of Distributed and of Multilevel Systems A Model Predictive Control Approach to AUVs Motion Coordination.- Dynamic Optimization Techniques for the Motion Coordination of Autonomous Vehicles.- Coordination challenges in networked vehicle systems: Are we missing something? -- Leader-Follower Coordination Control for Urban Traffic -- Prediction of Traffic Flow in a Road Network -- Zone-Control Based Traffic Control of Automated Guided Vehicles -- Coordination Control of Complex Machines -- Coordinated Model Predictive Control for Avoiding Voltage Collapse in an Electric Power Transmission Net -- Part II Architectures of distributed systems and their control -- System Architectures of Distributed and of Multilevel Systems -- Control Architectures -- Part III Coordination Control -- What is Coordination Control? -- Introduction to Coordinated Linear Systems -- Coordinated Linear Systems -- LQ Optimal Control for Coordinated Linear Systems -- Supervisory Control of Discrete-Event Systems -- Coordination Control of Distributed Discrete-Event Systems -- Part IV Distributed Control -- What is Team Theory?.- Team Theory and Information Structures of Stochastic Dynamic Decentralized Decision/- Signaling of Information -- Distributed Control of Manufacturing Networks: Analysis of Performance -- Part V Distributed Control with Communication -- What is Distributed Control with Direct Communication between Controllers? -- Communication Constraints in Control and Observation of Distributed Systems -- Information Structures -- Control Theory with Information Structures -- Common, Correlated, and Private Information in Control of Decentralized Systems -- Distributed State Estimation with Communication of Observations -- Part VI Multilevel Control -- Complexity and Scalability of Hierarchical Control for Networked Infrastructures.- Hierarchical Control for Road Traffic Management.-Part VII Communication and Control of Distributed Systems -- Layered Backpressure Scheduling for Delay-Aware Routing in Ad Hoc Networks -- Cache Control Issues in Pub-Sub Networks and Wireless Sensor Networks.- Detecting Influential Nodes in Complex Networks with Range Probabilistic Control Centrality -- Model Predictive Controllers over Differentiated Services Packet Networks -- A SystemC/Matlab Co-Simulation Tool for Networked Control Systems -- On Shannon?s Duality of a Source and a Channel and Nonanticipative Communication and Communication -- Directed information on Abstract Spaces: Properties and Extremum Problems -- Information Nonanticipative Rate Distortion Function and its Applications -- Nonanticipative Duality of Sources and Channels with Memory and Feedback -- Part VIII Informatics of Distributed Systems? Modeling and Verification -- An Introduction to the Verification of Hybrid Systems using ARIADNE -- Formal Verification Applied to Robotic Surgery -- Computing Reachable Sets of Differential Inclusions -- Modeling ObjectsMoving in a Complex Environment with World Automata -- Distributed Average Consensus in Digraphs -- Part IX Research Program -- Research Program for Control of Distributed and of Multilevel Systems.