Lunze Control Theory of Digitally Networked Dynamic Systems

2014
ISBN: 978-3-319-01131-8
Verlag: Springer Nature Switzerland
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 404 Seiten

The book gives an introduction to networked control systems and describes new modeling paradigms, analysis methods for event-driven, digitally networked systems, and design methods for distributed estimation and control. Networked model predictive control is developed as a means to tolerate time delays and packet loss brought about by the communication network. In event-based control the traditional periodic sampling is replaced by state-dependent triggering schemes. Novel methods for multi-agent systems ensure complete or clustered synchrony of agents with identical or with individual dynamics.The book includes numerous references to the most recent literature. Many methods are illustrated by numerical examples or experimental results. 

Autoren/Hrsg.

Lunze, Jan

Inhaltsverzeichnis

1;Preface;5
2;Contents;8
3;List of Contributors;9
4;Notation;14
5;Introduction to Networked Control Systems;15
5.1;1.1 What Are Networked Control Systems?;16
5.1.1;1.1.1 Motivation and Examples;16
5.1.2;1.1.2 Cyber-Physical Systems;20
5.1.3;1.1.3 Structures of Networked Control Systems;22
5.2;1.2 Theory of Networked Control Systems;24
5.2.1;1.2.1 Overview;24
5.2.2;1.2.2 Control with Information Rate Constraints;26
5.2.3;1.2.3 Control Subject to Networked-Induced Time Delays;27
5.2.4;1.2.4 Control Subject to Packet Loss;30
5.2.5;1.2.5 Control under Restrictions on the Network Access;31
5.2.6;1.2.6 Distributed Control of Interconnected Systems and Multi-Agent Systems;36
5.3;1.3 New Mathematical Concepts for Networked Control Systems;41
5.3.1;1.3.1 Optimization and Optimal Control;41
5.3.2;1.3.2 Dynamical Properties of Control Systems: Controllability,Observability and Stability;42
5.3.3;1.3.3 Graph Theory and Structured Matrices;44
6;Analysis of Networked Systems;45
6.1;2.1 Overview;46
6.2;2.2 Observability of Networked Systems;48
6.2.1;2.2.1 Motivation and Earlier Results;48
6.2.2;2.2.2 Reachability and Observability of Networks;50
6.2.3;2.2.3 Sensitivity Analysis of Networks;61
6.3;2.3 Minimal Bit Rates and Entropy for Control Tasks;66
6.3.1;2.3.1 Motivation and Earlier Results;66
6.3.2;2.3.2 Invariance Entropy;67
6.3.3;2.3.3 Entropy for Exponential Stabilization;76
6.4;2.4 Dynamic Quantization for Feedback Stabilization with Delayed Data-Rate Limited Communication;83
6.4.1;2.4.1 Problem Statement;83
6.4.2;2.4.2 Dynamic Quantization;83
6.4.3;2.4.3 Markovian Communication Models;90
7;Distributed Estimation and Control;94
7.1;3.1 Estimation and Control Architectures;95
7.1.1;3.1.1 Distribution of Control Tasks;95
7.1.2;3.1.2 Distributed Control Design;97
7.1.3;3.1.3 Contributions of this Book to Distributed Control;98
7.2;3.2 Centralized and Decentralized Moving-Horizon Estimation for Networked Control Systems;99
7.2.1;3.2.1 Centralized and Decentralized Networked Control Architecture;99
7.2.2;3.2.2 Problem Formulation;101
7.2.3;3.2.3 Centralized Moving-Horizon Estimation;102
7.2.4;3.2.4 Decentralized Moving-Horizon Estimation;105
7.3;3.3 Towards a Two-Layer Optimal ControlArchitecture for Distributed Systems;113
7.3.1;3.3.1 Distributed Optimization;113
7.3.2;3.3.2 Control of Distributed Systems;116
7.3.3;3.3.3 Dual Decomposition of the DC Optimal Power FlowProblem;119
7.3.4;3.3.4 Distributed Controller Design with Local ModelInformation;121
8;Distributed and Networked Model Predictive Control;124
8.1;4.1 Model Predictive Control of Networked Systems;126
8.1.1;4.1.1 Chapter Overview;126
8.1.2;4.1.2 Distributed and Decentralized Systems;127
8.1.3;4.1.3 Brief Review of Model Predictive Control (MPC);127
8.2;4.2 Compensation of Delays and Packet Loss;131
8.2.1;4.2.1 Problem Setup;132
8.2.2;4.2.2 Model-Based Compensation of Network Effects;133
8.2.3;4.2.3 Stability Properties of Model-Based Compensation;135
8.2.4;4.2.4 Outlook to Time-Delay Systems;138
8.3;4.3 Decentralized and Distributed Control Algorithms;139
8.3.1;4.3.1 Dissipativity-Based Distributed MPC;140
8.3.2;4.3.2 Decentralized MPC without Terminal Constraints;144
8.3.3;4.3.3 Distributed MPC for Cooperative Control;148
8.4;4.4 Distributed Predictive Control of Communicating Decentralized Systems;152
8.4.1;4.4.1 Survey of Distributed MPC;152
8.4.2;4.4.2 A Set-Invariance Approach to Distributed MPC;156
8.4.3;4.4.3 Distributed MPC Based on Robust Optimization;157
8.4.4;4.4.4 Distributed MPC for Hybrid Systems;166
8.5;4.5 Stochastic Model-Based Control with Virtual Control Inputs;169
8.5.1;4.5.1 System Setup and Controller-Actuator Scheme;170
8.5.2;4.5.2 Concept of Virtual Control Inputs;173
8.5.3;4.5.3 Model Predictive Controller Design Using Virtual Control Inputs;177
8.5.4;4.5.4 Model-Based Extension of Feedback Controllers Using Virtual Control Inputs;178
9;Event-Based Control;181
9.1;5.1 Introduction to Event-Based Control;183
9.2;5.2 Disturbance Attenuation by Event-Based State Feedback;187
9.2.1;5.2.1 Control Aim;187
9.2.2;5.2.2 Continuous State Feedback;188
9.2.3;5.2.3 Event-Based State Feedback;190
9.2.4;5.2.4 Main Properties of the Event-Based State-Feedback Loop;195
9.2.5;5.2.5 Extensions;198
9.3;5.3 Event-Based Stabilization of Interconnected Systems;203
9.3.1;5.3.1 Control of Interconnected Systems;203
9.3.2;5.3.2 Distributed Realization of the Event-Based State Feedback;204
9.3.3;5.3.3 Decentralized Event-Based State Feedback;207
9.4;5.4 Optimization-Based Control;215
9.4.1;5.4.1 Problem Formulation;216
9.4.2;5.4.2 Optimality Principle;216
9.4.3;5.4.3 Discretization of the State Space;217
9.4.4;5.4.4 Dynamic Games;219
9.4.5;5.4.5 Discretization as Perturbation;222
9.4.6;5.4.6 Event-Based Implementation;223
9.4.7;5.4.7 Including Past Information;225
9.4.8;5.4.8 Including Network Effects;226
9.4.9;5.4.9 Construction of a Lazy Feedback;229
9.4.10;5.4.10 Combination of the Global and the Local Approach;231
9.5;5.5 A Small-Gain Perspective on Event-Based Control;232
9.5.1;5.5.1 Problem Statement;232
9.5.2;5.5.2 Event Generation and Input-to-State Stability;234
9.5.3;5.5.3 Practical Stabilization;240
9.5.4;5.5.4 Parsimonious Triggering and Asymptotic Stabilization;241
9.5.5;5.5.5 Comparison of the Different Approaches;244
9.6;5.6 Event-Based Control of Interconnected Nonlinear Systems;246
9.6.1;5.6.1 Problem Statement;246
9.6.2;5.6.2 ISS-Based Decentralized Feedback Design;247
9.6.3;5.6.3 Optimization-Based Centralized Feedback Design;251
9.7;5.7 A Stochastic Approach to Event-Based Control;257
9.7.1;5.7.1 Event-Based Control as a Two-Person Team Problem;257
9.7.2;5.7.2 Problem Formulation;258
9.7.3;5.7.3 Optimal Time-Triggered Transmission;260
9.7.4;5.7.4 Optimal Event-Triggered Transmission;263
9.8;5.8 Appendix: The Thermofluid Process used for Experiments;269
10;Multi-agent Systems;274
10.1;6.1 Control Problems for Multi-agent Systems;276
10.2;6.2 Synchronization of Agents with Individual Dynamics;279
10.2.1;6.2.1 Synchronization Problem;279
10.2.2;6.2.2 Models;282
10.2.3;6.2.3 Internal-Reference Principle;284
10.2.4;6.2.4 Asymptotic Synchronization;286
10.2.5;6.2.5 Controller Design for Synchronization;292
10.3;6.3 Synchronizing Subspaces and Geometric Control;294
10.3.1;6.3.1 Motivation and Earlier Results;294
10.3.2;6.3.2 Stability and Stabilization of Homogenous Networks;296
10.3.3;6.3.3 Synchronization of Homogenous Networks;301
10.4;6.4 Optimization Methods for Cluster Synchronization Analysis;305
10.4.1;6.4.1 Cluster Synchronization;305
10.4.2;6.4.2 A Dynamic Network Model for Clustering;306
10.4.3;6.4.3 Combinatorial Conditions for Synchronization;309
10.4.4;6.4.4 Static Saddle-Point Problem for Clustering Analysis;311
10.4.5;6.4.5 Hierarchical Clustering Analysis and Community Detection;314
10.5;6.5 Autonomy and Cooperation in Networked Systems;316
10.5.1;6.5.1 Information Reduction in the Control of Systems with Identical Subsystems;316
10.5.2;6.5.2 System Models;318
10.5.3;6.5.3 Offline Information Reduction: Decomposition of the Controller Design Problem;319
10.5.4;6.5.4 Online Information Reduction: Situation-Dependent Communication;325
10.5.5;6.5.5 Stability Analysis of Subsystems with Similar Dynamics;329
11;Wireless Networking for Control;336
11.1;7.1 Control Implications of Wireless Networks;337
11.2;7.2 Control and Communication Co-design;339
11.2.1;7.2.1 Cross-Layering;339
11.2.2;7.2.2 Control Design;343
11.2.3;7.2.3 Communication Design;353
11.3;7.3 Control Requirements on Network Protocols;360
11.3.1;7.3.1 Load, Loss and Control Performance;360
11.3.2;7.3.2 Control Problem (Application Layer);361
11.3.3;7.3.3 Comparison of Event-Based and Time-Triggered Control;363
11.3.4;7.3.4 Properties of Communication Systems (MAC Layer);365
11.3.5;7.3.5 Control Performance for Different CommunicationSchemes;370
12;References;374
13;Index;397