Managing information in networked and multi-agent control systems

Traditional feedback control systems give little attention to issues associated with the flow of information through the feedback loop. Typically implemented with dedicated communication links that deliver nearly precise, reliable and non-delayed information, researchers have not needed to concern themselves with issues related to quantized, delayed and even lost information. With the advent of newer technologies and application areas that pass information through non-reliable networks, these issues can not be ignored. In recent years the field of Networked Control Systems (NCS) has emerged to describe situations where these issues are present. The research in this field focuses on quantifying performance degradations in the presence of network effects and proposing algorithms for managing the information flow to counter those negative effects. In this thesis I propose and analyze algorithms for managing information flow for several NCS scenarios; state estimation with lossy measurement signals, using input buffers to reduce the frequency of communication with a remote plant, and performing state estimation when control signals are transmitted to a remote plant via a lossy communication link with no acknowledgement signal at the estimator. Multi-agent coordinated control systems serve as a prime example of an emerging area of feedback control systems that utilize feedback loops with information passed through possibly imperfect communication networks. In these systems, agents use a communication network to exchange information in order to achieve a desired global objective. Hence managing the information flow has a direct impact on the performance of the system. I also explore this area by focusing on the problem of multi-agent average consensus. I propose an algorithm based on a hierarchical decomposition of the communication topology to speed up the time to convergence. For all these topics I focus on designing intuitive algorithms that intelligently manage the information flow and provide analysis and simulations to illustrate their effectiveness.

[1]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

[2]  Richard M. Murray,et al.  DYNAMIC CONSENSUS FOR MOBILE NETWORKS , 2005 .

[3]  Yuguang Fang,et al.  Stochastic stability of jump linear systems , 2002, IEEE Trans. Autom. Control..

[4]  D. Delchamps.  Stabilizing a linear system with quantized state feedback , 1990 .

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

[6]  A. Goldsmith,et al.  Kalman filtering with partial observation losses , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[7]  I. Petersen,et al.  Multi-rate stabilization of multivariable discrete-time linear systems via a limited capacity communication channel , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[8]  Nandit Soparkar,et al.  Trading computation for bandwidth: reducing communication in distributed control systems using state estimators , 2002, IEEE Trans. Control. Syst. Technol..

[9]  Panos J. Antsaklis,et al.  State and output feedback control in model-based networked control systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[10]  B. Goswami,et al.  Network Control System Applied to a Large Pressurized Heavy Water Reactor , 2006, IEEE Transactions on Nuclear Science.

[11]  Richard M. Murray,et al.  Optimal LQG control across packet-dropping links , 2007, Syst. Control. Lett..

[12]  Dragan Nesic,et al.  Input-output stability properties of networked control systems , 2004, IEEE Transactions on Automatic Control.

[13]  Peter J Seiler,et al.  Analysis of communication losses in vehicle control problems , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

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

[15]  Asok Ray,et al.  An observer-based compensator for distributed delays , 1990, Autom..

[16]  G. Millerioux,et al.  Unknown input observers for switched linear discrete time systems , 2004, Proceedings of the 2004 American Control Conference.

[17]  Munther A. Dahleh,et al.  Feedback Control in the Presence of Noisy Channels: “Bode-Like” Fundamental Limitations of Performance , 2008, IEEE Transactions on Automatic Control.

[18]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[19]  Raja Sengupta,et al.  A bounded real lemma for jump systems , 2003, IEEE Trans. Autom. Control..

[20]  João Pedro Hespanha,et al.  A Survey of Recent Results in Networked Control Systems , 2007, Proceedings of the IEEE.

[21]  Bruno Sinopoli,et al.  LQG CONTROL WITH MISSING OBSERVATION AND CONTROL PACKETS , 2005 .

[22]  Stephen P. Boyd,et al.  Fast linear iterations for distributed averaging , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[23]  R. Evans,et al.  Communication-limited stabilization of linear systems , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[24]  Yuguang Fang,et al.  A new general sufficient condition for almost sure stability of jump linear systems , 1997, IEEE Trans. Autom. Control..

[25]  Robin J. Evans,et al.  Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates , 2004, SIAM J. Control. Optim..

[26]  John N. Tsitsiklis,et al.  Distributed Asynchronous Deterministic and Stochastic Gradient Optimization Algorithms , 1984, 1984 American Control Conference.

[27]  Karl Henrik Johansson,et al.  Using Hierarchical Decomposition to Speed Up Average Consensus , 2008 .

[28]  J. Hespanha,et al.  Towards the Control of Linear Systems with Minimum Bit-Rate , 2002 .

[29]  Sekhar Tatikonda,et al.  Control under communication constraints , 2004, IEEE Transactions on Automatic Control.

[30]  Raja Sengupta,et al.  An H/sub /spl infin// approach to networked control , 2005, IEEE Transactions on Automatic Control.

[31]  Ling Shi,et al.  Towards Robust Control Over a Packet Dropping Network , 2006 .

[32]  R. Olfati-Saber.  Ultrafast consensus in small-world networks , 2005, Proceedings of the 2005, American Control Conference, 2005..

[33]  Luc Moreau,et al.  Stability of multiagent systems with time-dependent communication links , 2005, IEEE Transactions on Automatic Control.

[34]  Ling Shi,et al.  An Estimation Algorithm for a Class of Networked Control Systems Using UDP-Like Communication Schemes , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[35]  James Moyne,et al.  Performance evaluation of control networks: Ethernet, ControlNet, and DeviceNet , 2001 .

[36]  Luis A Montestruque.  Model-Based Networked Control Systems , 2004 .

[37]  George Cybenko,et al.  Dynamic Load Balancing for Distributed Memory Multiprocessors , 1989, J. Parallel Distributed Comput..

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

[39]  R. Srikant,et al.  Quantized Consensus , 2006, 2006 IEEE International Symposium on Information Theory.

[40]  Wei Zhang,et al.  Stability of networked control systems , 2001 .

[41]  Dawn M. Tilbury,et al.  Packet-based control: The H2-optimal solution , 2006, Autom..

[42]  Joao P. Hespanha,et al.  Anticipative and non-anticipative controller design for network control systems , 2006 .

[43]  Lei Zhang,et al.  Communication and control co-design for networked control systems , 2006, Autom..

[44]  Andrey V. Savkin,et al.  The problem of state estimation via asynchronous communication channels with irregular transmission times , 2003, IEEE Trans. Autom. Control..

[45]  Panos J. Antsaklis,et al.  Stability of model-based networked control systems with time-varying transmission times , 2004, IEEE Transactions on Automatic Control.

[46]  Kevin Wise.  Control in an Information Rich World , 2001 .

[47]  Robert F. Stengel,et al.  Optimal Control and Estimation , 1994 .

[48]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[49]  Ian R. Petersen,et al.  Robust stabilization of linear uncertain discrete-time systems via a limited capacity communication channel , 2004, Syst. Control. Lett..

[50]  Nicola Elia,et al.  Stabilization of linear systems with limited information , 2001, IEEE Trans. Autom. Control..

[51]  John N. Tsitsiklis,et al.  Problems in decentralized decision making and computation , 1984 .

[52]  Tamer Basar,et al.  Optimal control of LTI systems over unreliable communication links , 2006, Autom..

[53]  李幼升,et al.  Ph , 1989 .

[54]  Petter Ögren,et al.  Cooperative control of mobile sensor networks:Adaptive gradient climbing in a distributed environment , 2004, IEEE Transactions on Automatic Control.

[55]  Daniel Liberzon,et al.  Quantized control via locational optimization , 2002, IEEE Transactions on Automatic Control.

[56]  A.G. Alleyne,et al.  Stability and performance of packet-based feedback control over a Markov channel , 2006, 2006 American Control Conference.

[57]  Richard M. Murray,et al.  DISTRIBUTED SENSOR FUSION USING DYNAMIC CONSENSUS , 2005 .

[58]  Bruno Sinopoli,et al.  Kalman filtering with intermittent observations , 2004, IEEE Transactions on Automatic Control.

[59]  D.M. Tilbury,et al.  Packet-based control , 2004, Proceedings of the 2004 American Control Conference.

[60]  Ling Shi,et al.  Estimation schemes for networked control systems using UDP-like communication , 2007, 2007 46th IEEE Conference on Decision and Control.

[61]  Andrew G. Alleyne,et al.  UDP network communications for distributed wireless control , 2003, Proceedings of the 2003 American Control Conference, 2003..

[62]  Bruce A. Francis,et al.  Quadratic stabilization of sampled-data systems with quantization , 2003, Autom..

[63]  Anant Sahai,et al.  Anytime information theory , 2001 .

[64]  R.M. Murray,et al.  Asynchronous Distributed Averaging on Communication Networks , 2007, IEEE/ACM Transactions on Networking.

[65]  M. Dahleh,et al.  Fundamental limitations of performance in the presence of finite capacity feedback , 2005, Proceedings of the 2005, American Control Conference, 2005..

[66]  S. Sastry,et al.  Optimal control with unreliable communication: the TCP case , 2005, Proceedings of the 2005, American Control Conference, 2005..

[67]  Robin J. Evans,et al.  Topological feedback entropy and Nonlinear stabilization , 2004, IEEE Transactions on Automatic Control.

[68]  Panos J. Antsaklis,et al.  On the model-based control of networked systems , 2003, Autom..

[69]  Wei Zhang,et al.  Stability of networked control systems: explicit analysis of delay , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[70]  Wei Ren,et al.  Information consensus in multivehicle cooperative control , 2007, IEEE Control Systems.

[71]  Peter F. Al-Hokayem.  Stability Analysis of Networked Control Systems , 2003 .

[72]  J.P. Hespanha,et al.  Optimal communication logics in networked control systems , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[73]  Peter Seiler,et al.  Estimation with lossy measurements: jump estimators for jump systems , 2003, IEEE Trans. Autom. Control..

[74]  Daniel Liberzon,et al.  Quantized feedback stabilization of linear systems , 2000, IEEE Trans. Autom. Control..

[75]  Johan Nilsson,et al.  Real-Time Control Systems with Delays , 1998 .

[76]  Panos J. Antsaklis,et al.  MODEL-BASED NETWORKED CONTROL SYSTEMS – NECESSARY AND SUFFICIENT CONDITIONS FOR STABILITY , 2002 .

[77]  R. Murray,et al.  Estimation with Information Loss: Asymptotic Analysis and Error Bounds , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[78]  R. Brockett,et al.  Systems with finite communication bandwidth constraints. I. State estimation problems , 1997, IEEE Trans. Autom. Control..

[79]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[80]  Peng Yang,et al.  Stability and Convergence Properties of Dynamic Average Consensus Estimators , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[81]  Asok Ray,et al.  A Stochastic Regulator for Integrated Communication and Control Systems: Part II—Numerical Analysis and Simulation , 1991 .

[82]  Xiaobo Tan,et al.  A Stochastic Algorithm for Self-Organization of Autonomous Swarms , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[83]  Ling Shi,et al.  Probabilistic performance of state estimation across a lossy network , 2008, Autom..

[84]  Asok Ray,et al.  A Stochastic Regulator for Integrated Communication and Control Systems: Part I—Formulation of Control Law , 1991 .

[85]  Panos J. Antsaklis,et al.  Special Issue on Technology of Networked Control Systems , 2007 .

[86]  S. Sastry,et al.  An LQG Optimal Linear Controller for Control Systems with Packet Losses , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[87]  Panganamala Ramana Kumar,et al.  Control over Networks of Unreliable Links: Controller Location and Performance Bounds , 2007, 2007 5th International Symposium on Modeling and Optimization in Mobile, Ad Hoc and Wireless Networks and Workshops.

[88]  V. Borkar,et al.  Asymptotic agreement in distributed estimation , 1982 .

[89]  Richard M. Murray,et al.  Control over a network: Using actuation buffers to reduce transmission frequency , 2007, 2007 European Control Conference (ECC).

[90]  R.M. Murray,et al.  MVWT-II: the second generation Caltech Multi-Vehicle Wireless Testbed , 2004, Proceedings of the 2004 American Control Conference.

[91]  B. Azimi-Sadjadi,et al.  Stability of networked control systems in the presence of packet losses , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).