Networked Hybrid Dynamical Systems: Models, Specifications, and Tools

Models, specifications, and tools for networked hybrid dynamical systems are presented. The proposed modeling framework allows the agent, the network , and the algorithms to have hybrid dynamics. Notions that properly capture key specifications for networked systems, namely, formation, synchronization, safety, and security, are provided. Tools for analysis of the closed-loop hybrid system and for the design of distributed hybrid algorithms are presented. Applications of the methods to estimation, consensus, and synchronization over complex networks are presented throughout the chapter.

[1]  Ricardo G. Sanfelice,et al.  On robust forward invariance of sets for hybrid dynamical systems , 2017, 2017 American Control Conference (ACC).

[2]  Ricardo G. Sanfelice,et al.  Robust synchronization of interconnected linear systems over intermittent communication networks , 2016, 2016 American Control Conference (ACC).

[3]  Xinzhi Liu,et al.  Input-to-state stability of impulsive and switching hybrid systems with time-delay , 2011, Autom..

[4]  Andrew R. Teel,et al.  Invariance principles for hybrid systems with memory , 2016 .

[5]  Ali H. Sayed,et al.  Diffusion Strategies for Distributed Kalman Filtering and Smoothing , 2010, IEEE Transactions on Automatic Control.

[6]  Jorge Cortés,et al.  Distributed Kriged Kalman Filter for Spatial Estimation , 2009, IEEE Transactions on Automatic Control.

[7]  R. Olfati-Saber,et al.  Consensus Filters for Sensor Networks and Distributed Sensor Fusion , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[8]  David Angeli,et al.  A Lyapunov approach to incremental stability properties , 2002, IEEE Trans. Autom. Control..

[9]  Ricardo G. Sanfelice,et al.  Hybrid Dynamical Systems: Modeling, Stability, and Robustness , 2012 .

[10]  Dragan Nesic,et al.  A Framework for the Observer Design for Networked Control Systems , 2012, IEEE Transactions on Automatic Control.

[11]  Dragan Nesic,et al.  Observer design for wired linear networked control systems using matrix inequalities , 2008, Autom..

[12]  Peipei Zhou,et al.  Synchronization analysis of hybrid-coupled delayed dynamical networks with impulsive effects: A unified synchronization criterion , 2015, J. Frankl. Inst..

[13]  Michael Malisoff,et al.  Continuous-Discrete Observers for Time-Varying Nonlinear Systems: A Tutorial on Recent Results , 2015, SIAM Conf. on Control and its Applications.

[14]  Ling Shi,et al.  Kalman filtering over a packet-delaying network: A probabilistic approach , 2009, Autom..

[15]  R. Olfati-Saber,et al.  Distributed Kalman Filter with Embedded Consensus Filters , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[16]  Ricardo G. Sanfelice,et al.  Robust Distributed Estimation for Linear Systems Under Intermittent Information , 2018, IEEE Transactions on Automatic Control.

[17]  Wei Wang,et al.  Integral input-to-state stability for hybrid delayed systems with unstable continuous dynamics , 2012, Autom..

[18]  Tamio Arai,et al.  A distributed control scheme for multiple robotic vehicles to make group formations , 2001, Robotics Auton. Syst..

[19]  Ricardo G. Sanfelice,et al.  State estimation of linear systems in the presence of sporadic measurements , 2016, Autom..

[20]  J.P. Hespanha,et al.  Designing an observer-based controller for a network control system , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[21]  Jorge Cortés,et al.  Distributed algorithms for reaching consensus on general functions , 2008, Autom..

[22]  Wei Xing Zheng,et al.  Input-to-state stability and integral input-to-state stability of nonlinear impulsive systems with delays , 2009, Autom..

[23]  Gang Feng,et al.  Impulsive consensus algorithms for second-order multi-agent networks with sampled information , 2012, Autom..

[24]  Tao Liu,et al.  Synchronization of dynamical networks with distributed event-based communication , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[25]  Guanghui Wen,et al.  Consensus of multi‐agent systems with nonlinear dynamics and sampled‐data information: a delayed‐input approach , 2013 .

[26]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[27]  Amit K. Roy-Chowdhury,et al.  Information Weighted Consensus Filters and Their Application in Distributed Camera Networks , 2013, IEEE Transactions on Automatic Control.

[28]  Alfonso Baños,et al.  Delay-dependent stability of reset systems , 2010, Autom..

[29]  Seif Haridi,et al.  Distributed Algorithms , 1992, Lecture Notes in Computer Science.

[30]  Ricardo G. Sanfelice,et al.  A framework for modeling and analysis of dynamical properties of spiking neurons , 2014, 2014 American Control Conference.

[31]  Ricardo G. Sanfelice,et al.  On Robustness of Pre-Asymptotic Stability to Delayed Jumps in Hybrid Systems , 2018, 2018 Annual American Control Conference (ACC).

[32]  Gang Feng,et al.  Optimal linear estimation for networked systems with communication constraints , 2011, Autom..

[33]  Shinkyu Park,et al.  Design of Distributed LTI Observers for State Omniscience , 2017, IEEE Transactions on Automatic Control.

[34]  Niu Jie,et al.  Sampled-Data Consensus for High-Order Multiagent Systems under Fixed and Randomly Switching Topology , 2014 .

[35]  Ricardo G. Sanfelice.  Robust Asymptotic Stabilization of Hybrid Systems using Control Lyapunov Functions , 2016, HSCC.

[36]  Iasson Karafyllis,et al.  Global exponential sampled-data observers for nonlinear systems with delayed measurements , 2012, Syst. Control. Lett..

[37]  Dennis S. Bernstein,et al.  Nontangency-Based Lyapunov Tests for Convergence and Stability in Systems Having a Continuum of Equilibria , 2003, SIAM J. Control. Optim..

[38]  Li Yu,et al.  Group consensus in multi-agent systems with hybrid protocol , 2013, J. Frankl. Inst..

[39]  Luonan Chen,et al.  Uniform asymptotic stability of hybrid dynamical systems with delay , 2003, IEEE Trans. Autom. Control..

[40]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[41]  Florian Dörfler,et al.  Continuous-Time Distributed Observers With Discrete Communication , 2013, IEEE Journal of Selected Topics in Signal Processing.

[42]  R. Murray,et al.  Graph rigidity and distributed formation stabilization of multi-vehicle systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[43]  Ricardo G. Sanfelice,et al.  Results on invariance-based feedback control for hybrid dynamical systems , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[44]  Naomi Ehrich Leonard,et al.  COOPERATIVE ATTITUDE SYNCHRONIZATION IN SATELLITE SWARMS: A CONSENSUS APPROACH , 2007 .

[45]  Andrew R. Teel,et al.  Hybrid Dynamical Systems with Finite Memory , 2016 .

[46]  Ricardo G. Sanfelice,et al.  Robust synchronization of two linear systems over intermittent communication networks , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[47]  Ye Sun,et al.  Stability of discontinuous retarded functional differential equations with applications , 2005, IEEE Transactions on Automatic Control.

[48]  João P. Hespanha,et al.  Modeling communication networks with hybrid systems , 2007, TNET.

[49]  Francesco Bullo,et al.  Coordination and Geometric Optimization via Distributed Dynamical Systems , 2003, SIAM J. Control. Optim..

[50]  E. Fetz,et al.  Synchronization of neurons during local field potential oscillations in sensorimotor cortex of awake monkeys. , 1996, Journal of neurophysiology.

[51]  Chaohong Cai,et al.  Characterizations of input-to-state stability for hybrid systems , 2009, Syst. Control. Lett..

[52]  S. Strogatz,et al.  Synchronization of pulse-coupled biological oscillators , 1990 .

[53]  Tao Liu,et al.  Distributed Event-Triggered Control for Synchronization of Dynamical Networks with Estimators , 2013 .

[54]  W.M. Haddad,et al.  Finite-Time Semistability Theory with Applications to Consensus Protocols in Dynamical Networks , 2007, 2007 American Control Conference.

[55]  Jun Liu,et al.  Lyapunov-Based Sufficient Conditions for Stability of Hybrid Systems With Memory , 2015, IEEE Transactions on Automatic Control.

[56]  Ricardo G. Sanfelice,et al.  Hybrid attack monitor design to detect recurrent attacks in a class of cyber-physical systems , 2017, 2017 IEEE 56th Annual Conference on Decision and Control (CDC).

[57]  Xi-Ming Sun,et al.  Razumikhin-type theorems for hybrid system with memory , 2016, Autom..

[58]  Wei Ren,et al.  On the consistency and confidence of distributed dynamic state estimation in wireless sensor networks , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[59]  Richard M. Murray,et al.  INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS , 2002 .

[60]  Zhiyong Sun,et al.  Distance-Based Control of $\mathcal {K}_{n}$ Formations in General Space With Almost Global Convergence , 2018, IEEE Transactions on Automatic Control.

[61]  Ricardo G. Sanfelice,et al.  Results on finite time stability for a class of hybrid systems , 2016, 2016 American Control Conference (ACC).

[62]  Alfonso Baños,et al.  Delay-Independent Stability of Reset Systems , 2009, IEEE Transactions on Automatic Control.

[63]  John Baillieul,et al.  Control Using Feedback over Wireless Ethernet and Bluetooth , 2005, Handbook of Networked and Embedded Control Systems.

[64]  Rodolphe Sepulchre,et al.  Synchronization in networks of identical linear systems , 2009, Autom..

[65]  Peng Yan,et al.  Stability analysis of switched time-delay systems , 2008, 2008 47th IEEE Conference on Decision and Control.

[66]  Ricardo G. Sanfelice,et al.  Interconnected Observers for Robust Decentralized Estimation With Performance Guarantees and Optimized Connectivity Graph , 2015, IEEE Transactions on Control of Network Systems.

[67]  Xinzhi Liu,et al.  Stability theory of hybrid dynamical systems with time delay , 2006, IEEE Trans. Autom. Control..

[68]  Bruno Sinopoli,et al.  Foundations of Control and Estimation Over Lossy Networks , 2007, Proceedings of the IEEE.

[69]  Rafal Goebel.  Basic results on pointwise asymptotic stability and set-valued Lyapunov functions , 2010, 49th IEEE Conference on Decision and Control (CDC).

[70]  Jinde Cao,et al.  A unified synchronization criterion for impulsive dynamical networks , 2010, Autom..

[71]  Vincent Andrieu,et al.  Continuous-Discrete Time Observer Design for Lipschitz Systems With Sampled Measurements , 2014, IEEE Transactions on Automatic Control.

[72]  Ricardo G. Sanfelice,et al.  On the synchronization of two impulsive oscillators under communication constraints , 2012, 2012 American Control Conference (ACC).

[73]  Mohammed M'Saad,et al.  Continuous-Discrete Time Observer for a class of MIMO Nonlinear Systems , 2013 .

[74]  Michael Malisoff,et al.  Design of continuous-discrete observers for time-varying nonlinear systems , 2015, Autom..

[75]  Ricardo G. Sanfelice,et al.  On Distributed Observers for Linear Time-invariant Systems Under Intermittent Information Constraints , 2016 .

[76]  Claudio De Persis,et al.  Self-triggered coordination with ternary controllers , 2012 .

[77]  Ricardo G. Sanfelice,et al.  On notions and sufficient conditions for forward invariance of sets for hybrid dynamical systems , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[78]  Ricardo G. Sanfelice,et al.  On asymptotic synchronization of interconnected hybrid systems with applications , 2017, 2017 American Control Conference (ACC).

[79]  Ricardo G. Sanfelice,et al.  A Hybrid Consensus Protocol for Pointwise Exponential Stability with Intermittent Information , 2016 .

[80]  Martin Hasler,et al.  Generalized connection graph method for synchronization in asymmetrical networks , 2006 .