EE 5330- Distributed Decision & Control
Updated:��� Tuesday, November 15, 2022
Systems
and Controls Thrust Area
Topics with no link are found in the textbooks.
Review Material linked to�� Systems and Controls Courses
EE 4314: Undergraduate control systems. Review of Laplace transform, Classical frequency domain design, Z transforms
EE 5307: Linear systems Theory review.
F.L.
Lewis, H. Zhang, K. Hengster-Movric, A. Das, Cooperative Control of
Multi-Agent Systems: Optimal and Adaptive Design Approaches,
Springer-Verlag, 2014.
REVIEW
MATERIAL
Review of State Variable Systems
Simulation in MATLAB
MATLAB Applications in Control Theory
Computer Simulation of Nonlinear Systems
Appendix A of F.L. Lewis, D. Vrabie, V.L. Syrmos, Optimal Control, ed. 3, Wiley, 2012
(Basic results from math and functional analysis)
(HISTORY OF FEEDBACK CONTROL) � covered later in class as time is available
CLASS
NOTES FOR EE 5330
Section and Chapter numbers below refer to the book
F.L.
Lewis, H. Zhang, K. Hengster-Movric, A. Das, Cooperative Control of
Multi-Agent Systems: Optimal and Adaptive Design Approaches,
Springer-Verlag, 2014.
Introduction to Multi-agent Consensus on Communication Graphs
Introductory Papers in
Consensus
Introduction to Graph Types, Synchronization, and Systems on Graphs- PPT 1
PPT slides for Graphs, Dynamic Graphs, Gershgorin, Eigenstructure � PPT 2
Synchronization in Biology, Chemistry, and Physics- Chapter 1.1
Kuramoto Oscillators,
and synchronization in power systems- See section 3.1.3 of this document
Consensus Analysis for Multi-agent Systems
and Algebraic Graph Theory
PPT slides for Graphs, Dynamic Graphs, Gershgorin, Eigenstructure � PPT 2
Cooperative Regulator and Cooperative Tracker- See section 3.3 of this document
First order consensus- cooperative regulator � book Section 2.2 and 2.3
1.� First Order Consensus notes
Graph Matrices
and Eigenstructure of Laplacian Matrix � book Section 2.1
Motion Invariants- Book Section
2.4
Cooperative
Regulator and Cooperative Tracker- See section 3.3 of this document
Cooperative Tracker Derivation- Pinning control with a leader
Non-scalar states and the Kronecker Product-
Book Section 2.3.4
Consensus for Linear systems on Graphs - Book Section 2.6
Cooperative
Tracker Derivation for General Linear Systems
Brewer Kronecker Product Paper
Optimal Synchronization for
General Linear Systems
Linear quadratic regulator
Lyapunov Design
Optimal Design for Synchronization, Duality, Cooperative
Regulators (also see chapter 3 of book)
Optimal Control Book, Lewis 2012� Chapter 10
Optimal Control Derivation �
Section 10.1
LQR p. 443-444
Multiagent Games and Nash Equilibrium - Section 10.4
First-order
consensus for discrete-time systems- book Section 2.5
����������� Discrete-time
consensus
Consensus on time-varying graph topologies
Emergence
of Two teams and structural balance
Potential Fields for Synchronization and Motion Control (Sections 1.1, 1.2)
Parallel Algorithms for Computations on Graphs
Matrices for Analysis of Graphs � Book Section 2.8
Frobenius Form and Hierarchical Graphs See Section 3.3 of this document
Cooperative
control for Renewable Energy Microgrid- AC Microgrid
����� DC
Microgrid
��
Optimal Design for Synchronization, Duality, Cooperative Regulators � PPT slides
Cooperative Observers and Regulators
� Optimal Design for Synchronization, Duality, Cooperative Regulators
Potential Fields for Synchronization and Motion Control (Sections 1.1, 1.2)
Graph
Laplacian potential and Lyapunov analysis in consensus
Graph Laplacian Potential (Sections 1.3, 1.4)
Lyapunov equations
for Multi-agent systems
Lyapunov
Techniques in Cooperative Control
Heterogeneous Multi-Agent Systems synchronization
Graphical Games
� chapter 6 of book
Reinforcement
Learning
� Autonomous Unmanned Aerial Vehicles � UAV
� Quadrotors
� UAV
Quadrotor Dynamics and Control
�
Quadrotor
Control by Dynamic Inversion
� Quadrotor
Control by Backstepping
� Modeling
� Control
OLD NOTES
Cooperative Tracker and Pinning Control
Control,
Decision, and Trust Graphs
ROUGH NOTES BELOW
Nature and Cooperative Motion
Flocks, swarms, herds,
schools
Reynolds 1987
Couzin et al. 2005
Physics, chemistry
Thermodynamics
Graph Types I- Basic Graph
Types
Strogatz 2001
Random
Erdos/Renyi
Small world
Watts and Strogatz 1998
Scale free
Barabasi and Albert 1999
Distance graph
Simple routing in graphs, Kleinberg 2006
World-Wide Web- Tadic 2001
MATLAB Simulation of networked dynamical systems
Potential Field Approaches in Synchronization
Gazi and Passino 2004
Graphs
Diameter, volume, Fiedler, connectivity
Cut set, conductance
Voltage networks and resistance distance
Solving PDEs on Graphs
Poisson
Heat Equation
Routing problems
Shortest path, least cost
Dijkstra
Bellman Ford
Decentralized routing
Graph Types II
Regular, balanced
Rajamundran
Etc
Markov Decision Processes- MDP
Steady-state distribution, Wolfowitz
Hitting probabilities
Random walks
Synchronization
Kuramoto
Vicsek
Ron Chen pinning chaotic systems
Nonlinear and Probabilistic Protocols
Analytic
Min, max, magnitude, signum
Probabilistic
Distributed Decision and Estimation
Cooperative Kalman filtering
Sensor fusion
Judea Pearl, message passing
Distributed resource allocation
Formation Control
Rigid body dynamics
Inertial systems
Nonholonomic systems
Connectivity and rigidity, Baillieul
Distributed Resource Allocation
Kevin Moore paper
Anomalies and Problems
Switched graphs
Delays
Lost packets, quantization