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There are many communication imperfections in networked control systems (NCSs) such as varying delays, varying transmission intervals, packet loss, communication constraints and quantization effects. Most of the available literature on NCSs focuses on only one of these aspects, while ignoring the others. In this paper we present a general framework that incorporates both communication constraints...
Dynamic average consensus estimators suitable for the decentralized computation of global averages of constant or slowly-varying local inputs include the proportional (P) and proportional-integral (PI) estimators. We analyze the convergence properties of these estimators when run on i.i.d. random graphs which are connected and balanced on average, but need not be connected or balanced at each time...
In this paper a convergent, nearest-neighbor, consensus control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with its nearest neighbor. The neighbor, however, is restricted to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists...
In this work, a novel metric is introduced in order to measure the influence of one subgroup of agents on another in consensus-type networks. The measure is solely graph-depended and its value can be calculated from the normalized eigenvector corresponding to the second smallest eigenvalue of graph Laplacian, known as the Fiedler vector and widely used in graph partitioning algorithms. We also examine...
One of the main challenges in robotics applications is dealing with inaccurate sensor data. Specifically, for a group of mobile robots the measurement of the exact location of the other robots relative to a particular robot is often inaccurate due to sensor uncertainty or detrimental environmental conditions. In this paper, we address the consensus problem for a group of agent robots with uncertain...
We investigate the tracking control of nonlinear networked control systems (NCS) affected by disturbances. We consider a general scenario in which the network is used to ensure the communication between the controller, the plant and the reference system generating the desired trajectory to be tracked. The communication constraints induce non-vanishing errors (in general) on the feedforward term and...
We investigate emulation-based tracking control for nonlinear networked control systems (NCS) affected by disturbances. We consider a general scenario in which the network is used to ensure the communication between the controller, the plant and the reference system generating the desired trajectory to be tracked. The communication constraints induce nonvanishing errors (in general) on the feedforward...
We consider networked control systems where nodes (sensors, actuators, and controller) are connected via a communication network that allows only one user to transmit at a given time. We tackle the scheduling problem of deciding which node should access the network at each transmission time so as to optimize a quadratic performance objective. Using the framework of dynamic programming, we propose...
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