Significant research has been conducted in the controls, systems, robotics, and communications communities over the last decade to lay down a foundation for the analysis and control of networked systems. This course will provide an overview of the tools and techniques that have proven instrumental for studying networked control systems as well as outline potential research directions.
The course will be divided into four parts, corresponding to the following topics:
(1) Network Models (graphs, random graphs, random geometric graphs, state-dependent graphs, switching networks)
(2) Decentralized Control (limited computational, communications, and controls resources in networked control systems)
(3) Multi-Agent Robotics (formation control, sensor and actuation models)
(4) Mobile Sensor Networks (coverage control, Voronoi-based cooperation strategies)
This course covers network control systems and through this course, students would know several typical control problems, applications and fundamental theory of network control systems, with particular focus on multi-robot systems. This would help students have access to the state-of-the-art in systems and control, and to produce novel research outcomes. Also, students will acquire several background theories such as graph theory, Lyapunov theory, and optimization theory.
Network Control Systems, Multi-agent Systems, Graph Theory, Consensus Control, Synchronization Control, Coverage Control, Cooperative Distributed Optimmization
|✔ Specialist skills||✔ Intercultural skills||Communication skills||Critical thinking skills||Practical and/or problem-solving skills|
1) At the beginning of each class, solutions to exercise problems assigned in the previous class are reviewed.
2) Attendance is taken in every class.
3) Students must familiarize the contents assigned in the previous class before coming to the class.
|Course schedule||Required learning|
|Class 1||Introduction to Network Control Systems||Students must make sure they understand what significance the course holds for them by checking their learning portfolio. Peruse Chapter 1 of the course textbook|
|Class 2||Graph Theory and Distributed Control||Peruse Chapter 2 of the course textbook|
|Class 3||Continuous-Time Consensus Protocols||Peruse Section 3.1 and 3.2 of the course textbook. The homework must be handed in next class|
|Class 4||Directed and Discrete-Time Consensus Protocols||Peruse Section 3.3 and 3.4 of the course textbook. The homework must be handed in next class|
|Class 5||Multi-Agent Robotics and Formation Control||Peruse Chapter 4 of the course textboo|
|Class 6||Mobile Sensor Networks and Coverage Control||Peruse Chapter 4 of the course textbook. The homework must be handed in next class|
|Class 7||Course Summary||Putting It All Together|
M. Mesbahi and M. Egerstedt, Graph Theoretic Methods in Multiagent Networks,
Princeton Series in Applied Mathematics, Princeton University Press ISBN: 9781400835355
To be designated in the first class
Students will be assessed on their understanding of the concept of network control systems, theory, solution and their applications. The course scores are based on exercise problems.
Students must have successfully completed SCE.C.202, SCE.C.302, SCE.C.402, SCE.C.531, SCE.C.501, and SCE.C.502 or have equivalent knowledge.