Networked and Distributed Control Systems (SC42100)  —  Spring 2018


Lecturers & Office Hours

Assitants

Course Description and General Information

This course starts with the modelling of so-called networked control systems (NCS). Networked control systems are systems in which the communication between plant and controller takes place via a (e.g. wireless) network. Such network-based communication leads to imperfections in sensor and control signals, such as time-varying and uncertain sampling intervals and delays, packet dropouts, scheduling constraints, etc. The modelling framework introduced in the course is subsequently used to support stability analysis, using characterizations based on linear matrix inequalities (LMI). Such stability analysis allows to study trade-offs between requirements on the controller, the network and plant properties.

The second part of the course deals with the aspect of the distributed control of networked systems. In particular, distributed optimization methods and various decomposition techniques (primal, dual, augmented Lagrangian / proximal point method, ADMM), links to consensus algorithms, and their application in networked multi-vehicle distributed robotics problems. Online optimization-based control approaches such as distributed model predictive control for multivehicle cooperation, distributed LQR and decomposition based methods that are applicable to collections of mobile agents. The methods will be illustrated on application examples including cooperative rendezvous, distributed formation control, spacecraft formation flight, and robotic networks.

Here are some general information:

Prerequisites and Target Group

Assessment and Grade Composition

The student must be able to:

The final grade compositions are as follows:


Schedule and Study Materials

Date Days and Times Topics Lecturer Lecture Notes Location
April 23, 2018 Monday — 10:45-12:30 - Introduction to Networked and Distributed Control Systems
- Modelling and Stability Analysis of Sampled-Data Systems
Nathan van de Wouw Link 3mE CZ-E (Robert Hooke)
April 24, 2018 Tuesday — 10:45-12:30 - Modelling and Stability Analysis of: 1) Sampled-Data Systems with Delay 2) NCS with Time Varying Sampling Intervals
- Stability Anaylsis of Time Varying Nonlinear Discrete-Time Systems
- Stability Analysis in Terms of Linear Matrix inequality
Nathan van de Wouw Link TPM CZ-A
April 30, 2018 Monday — 10:45-12:30 - Modelling and Stability Analysis of NCS with: 1) Packet Loss 2) Communication Constraints 3) Multi-Hop Networks Nathan van de Wouw Link 3mE CZ-E (Robert Hooke)
May 1, 2018 Tuesday — 10:45-12:30 Modelling and Stability Analysis of NCS with Uncertain and Time Varying Sampling Intervals with Delays Nathan van de Wouw Link TPM CZ-A
May 7, 2018 Monday — 10:45-12:30 LMI Tutorial Vahab Rostampour Link 3mE CZ-E (Robert Hooke)
May 8, 2018 Tuesday — 10:45-12:30 Office Hours Vahab Rostampour  —  TPM CZ-A
May 14, 2018 Monday — 10:45-12:30 Office Hours Vahab Rostampour  —  Wiener Hall (3mE C-3-190)
May 15, 2018 Tuesday — 10:45-12:30 Office Hours Vahab Rostampour  —  Wiener Hall (3mE C-3-190)
May 22, 2018 Tuesday — 10:45-12:30 Distributed Optimization and Control 1 Tamás Keviczky Link TPM CZ-A
May 28, 2018 Monday — 10:45-12:30 Office Hours Vahab Rostampour  —  Wiener Hall (3mE C-3-190)
May 29, 2018 Tuesday — 10:45-12:30 Distributed Optimization and Control 2 Tamás Keviczky Link (Duality, ADMM) TPM CZ-A
June 4, 2018 Monday — 10:45-12:30 Office Hours Vahab Rostampour  —  Wiener Hall (3mE C-3-190)
June 5, 2018 Tuesday — 10:45-12:30 Distributed Optimization and Control 3 Tamás Keviczky Link (Consensus 1 and 2) TPM CZ-A
June 11, 2018 Monday — 10:45-12:30 Office Hours Vahab Rostampour  —  Wiener Hall (3mE C-3-190)
June 12, 2018 Tuesday — 10:45-12:30 Distributed Optimization and Control 4 Tamás Keviczky Link TPM CZ-A
May 18, 2018 Monday — 10:45-12:30 Office Hours Vahab Rostampour  —  Wiener Hall (3mE C-3-190)



Course Assignments

This course is accompanied by the following assignments:


Exercise Sheet Handout Date Handin Date
Assignment 1  —  download April 24, 2018 May 18, 2018
Assignment 2  —  download May 1, 2018 May 25, 2018
Assignment 3  —  download (mfile) May 22, 2018 June 25, 2018


Exam Preparation


References