Networked and Distributed Control Systems (SC42100)  —  Spring 2017


Lecturers & Office Hours

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 24, 2017 Monday — 13:45-15:30 - Introduction to Networked and Distributed Control Systems
- Modelling and Stability Analysis of Sampled-Data Systems
Nathan van de Wouw Link 3mE CZ-F
April 26, 2017 Wednesday — 13:45-15:30 - 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 3mE CZ-D
May 1, 2017 Monday — 13:45-15:30 LMI Tutorial Vahab Rostampour Link 3mE CZ-F
May 3, 2017 Wednesday — 13:45-15:30 Office Hours Vahab Rostampour  —  Wiener Hall
May 8, 2017 Monday — 13:45-15:30 - Modelling and Stability Analysis of NCS with: 1) Packet Loss 2) Communication Constraints 3) Multi-Hop Networks Nathan van de Wouw Link 3mE CZ-F
May 10, 2017 Wednesday — 13:45-15:30 Office Hours Vahab Rostampour  —  3mE B-1-210
May 15, 2017 Monday — 13:45-15:30 Modelling and Stability Analysis of NCS with Uncertain and Time Varying Sampling Intervals with Delays Nathan van de Wouw Link 3mE CZ-F
May 17, 2017 Wednesday — 13:45-15:30 Office Hours Vahab Rostampour  —  Wiener Hall
May 22, 2017 Monday — 13:45-15:30 Distributed Optimization and Control 1 Tamás Keviczky Link 3mE CZ-F
May 22, 2017 Monday —  9:00-11:00 Office Hours Vahab Rostampour  —  Wiener Hall
May 29, 2017 Monday — 13:45-15:30 Distributed Optimization and Control 2 Tamás Keviczky Link, Duality, ADMM 3mE CZ-F
May 31, 2017 Wednesday — 13:45-15:30 Office Hours Vahab Rostampour  —  Wiener Hall
June 7, 2017 Wednesday — 13:45-15:30 Distributed Optimization and Control 3 Tamás Keviczky Link, Consensus 1 3mE CZ-D
June 12, 2017 Monday — 13:45-15:30 Distributed Optimization and Control 4 Tamás Keviczky Link, Consensus 2 3mE CZ-F
June 14, 2017 Wednesday — 13:45-15:30 Office Hours Vahab Rostampour  —  Wiener Hall



Course Assignments

This course is accompanied by the following assignments:


Exercise Sheet Handout Date Handin Date
Assignment 1  —  download April 24, 2017 May 10, 2017
Assignment 2  —  download April 24, 2017 May 29, 2017
Assignment 3  —  download (mfile) May 22, 2017 June 26, 2017 (9am)


Exam Preparation


References