Yu-Ping Tian

Frequency-Domain Analysis and Design of Distributed Control Systems

• Gebundenes Buch

Produktbeschreibung

With the rapid development of micro-sensors, micro-motors, sensor networks and communication networks, spatially distributed control systems have attracted increasing attention. Internet congestion control and the multi-robot coordination control are two typical examples of distributed control systems. In such systems global collective behaviors emerge or global targets are reached through a distributed control strategy. In Frequency-Domain Analysis and Design of Distributed Control Systems, Yu-Ping Tian systematically covers distributed control to help readers solve the effects of delays on stability.
The first book to introduce frequency-domain methods for the analysis of distributed control systems, covering:
Scalable stability criteria of networks of distributed control systems
Effect of heterogeneous delays on the stability of a network of distributed control systems
Stability of Internet congestion control algorithms
Consensus in multi-agent systems
Introduces control design problems related to frequency domain analysis
PowerPoint slides with book figures available for instructor use
This book is ideal for graduate students in control, networking and robotics. The book is also geared for researchers in the fields of control theory and networking, who are interested in learning and applying distributed control algorithms or frequency-domain analysis methods.
Companion website for the book:
www.wiley.com/go/tian/fda

Produktdetails

• Verlag: Wiley & Sons
• 1. Auflage
• Seitenzahl: 288
• Erscheinungstermin: 6. November 2012
• Englisch
• Abmessung: 250mm x 175mm x 20mm
• Gewicht: 594g
• ISBN-13: 9780470828205
• ISBN-10: 047082820X
• Artikelnr.: 36267331

Autorenporträt

Yu-Ping Tian is a Professor of Automation at Southeast University. His research interests include analysis and control of communication networks, formation control of robots, chaos control and synchronization, and robust and adaptive control. He won the Guan Zhao Zhi Paper Award at the Chinese Control Conference in 1995 and the Best Theory Paper Award at the 3rd World Congress on Intelligent Control and Automation in 2000. He is the recipient of the Chang Jiang Professorship awarded by the Education Ministry of China and the Distinguished Young Scholar Award of the National Natural Science Foundation of China. He has held visiting positions in Central Queensland University (1998, 2001), University of California at Berkeley (2002), and City University of Hong Kong (2004). Tian received a Bachelors degree from Tsinghua University, a Ph.D. degree from Moscow Power Institute and an Sc.D. degree from Taganrog State Radio-engineering University, Taganrog, Russia, in 1996. All his degrees are in Electrical Engineering.

Inhaltsangabe

Preface xi Glossary of Symbols xiii 1 Introduction 1 1.1 Network-Based
Distributed Control System 1 1.2 Graph Theory and Interconnection Topology
4 1.2.1 Basic Definitions 4 1.2.2 Graph Operations 7 1.2.3 Algebraic Graph
Theory 10 1.3 Distributed Control Systems 16 1.3.1 End-to-End Congestion
Control Systems 16 1.3.2 Consensus-Based Formation Control 22 1.4 Notes and
References 25 1.4.1 Graph Theory and Distributed Control Systems 25 1.4.2
Delay in Control and Control by Delay 26 References 26 2 Symmetry,
Stability and Scalability 31 2.1 System Model 31 2.1.1 Graph-Based Model of
Distributed Control Systems 31 2.1.2 Bipartite Distributed Control Systems
34 2.2 Symmetry in the Frequency Domain 36 2.2.1 Symmetric Systems 36 2.2.2
Symmetry of Bipartite Systems 38 2.3 Stability of Multivariable Systems 39
2.3.1 Poles and Stability 39 2.3.2 Zeros and Pole-Zero Cancelation 41 2.4
Frequency-Domain Criteria of Stability 43 2.4.1 Loop Transformation and
Multiplier 44 2.4.2 Multivariable Nyquist Stability Criterion 45 2.4.3
Spectral Radius Theorem and Small-Gain Theorem 50 2.4.4 Positive Realness
Theorem 53 2.5 Scalable Stability Criteria 53 2.5.1 Estimation of Spectrum
of Complex Matrices 53 2.5.2 Scalable Stability Criteria for Asymmetric
Systems 56 2.5.3 Scalable Stability Criteria for Symmetric Systems 60 2.5.4
Robust Stability in Deformity of Symmetry 61 2.6 Notes and References 64
References 65 3 Scalability in the Frequency Domain 67 3.1 How the
Scalability Condition is Related with Frequency Responses 67 3.2 Clockwise
Property of Parameterized Curves 71 3.3 Scalability of First-Order Systems
76 3.3.1 Continuous-Time System 76 3.3.2 Discrete-Time System 79 3.4
Scalability of Second-Order Systems 85 3.4.1 System of Type I 85 3.4.2
System of Type II 95 3.5 Frequency-Sweeping Condition 103 3.5.1 Stable
Quasi-Polynomials 103 3.5.2 Frequency-Sweeping Test 105 3.6 Notes and
References 108 References 109 4 Congestion Control: Model and Algorithms
111 4.1 An Introduction to Congestion Control 111 4.1.1 Congestion Collapse
112 4.1.2 Efficiency and Fairness 114 4.1.3 Optimization-Based Resource
Allocation 114 4.2 Distributed Congestion Control Algorithms 116 4.2.1
Penalty Function Approach and Primal Algorithm 116 4.2.2 Dual Approach and
Dual Algorithm 117 4.2.3 Primal-Dual Algorithm 118 4.2.4 REM: A
Second-Order Dual Algorithm 118 4.3 A General Model of Congestion Control
Systems 119 4.3.1 Framework of End-to-End Congestion Control under Diverse
Round-Trip Delays 119 4.3.2 General Primal-Dual Algorithm 122 4.3.3
Frequency-Domain Symmetry of Congestion Control Systems 124 4.4 Notes and
References 126 References 127 5 Congestion Control: Stability and
Scalability 129 5.1 Stability of the Primal Algorithm 129 5.1.1 Johari-Tan
Conjecture 129 5.1.2 Scalable Stability Criterion for Discrete-Time Systems
131 5.1.3 Scalable Stability Criterion for Continuous-Time Systems 135 5.2
Stability of REM 138 5.2.1 Scalable Stability Criteria 138 5.2.2 Dual
Algorithm: the First-Order Limit Form of REM 145 5.2.3 Design of Parameters
of REM 146 5.3 Stability of the Primal-Dual Algorithm 152 5.3.1 Scalable
Stability Criteria 152 5.3.2 Proof of the Stability Criteria 161 5.4
Time-Delayed Feedback Control 163 5.4.1 Time-Delayed State as a Reference
163 5.4.2 TDFC for Stabilization of an Unknown Equilibrium 165 5.4.3
Limitation of TDFC in Stabilization 166 5.5 Stabilization of Congestion
Control Systems by Time-Delayed Feedback Control 170 5.5.1 Introduction of
TDFC into Distributed Congestion Control Systems 170 5.5.2 Stabilizability
under TDFC 171 5.5.3 Design of TDFC with Commensurate Self-Delays 181 5.6
Notes and References 188 5.6.1 Stability of Congestion Control with
Propagation Delays 188 5.6.2 Time-Delayed Feedback Control 189 References
190 6 Consensus in Homogeneous Multi-Agent Systems 193 6.1 Introduction to
Consensus Problem 193 6.1.1 Integrator Agent System 193 6.1.2 Existence of
Consensus Solution 194 6.1.3 Consensus as a Stability Problem 194 6.1.4
Discrete-Time Systems 195 6.1.5 Consentability 195 6.2 Second-Order Agent
System 196 6.2.1 Consensus and Stability 196 6.2.2 Consensus and
Consentability Condition 199 6.2.3 Periodic Consensus Solutions 203 6.2.4
Simulation Study 204 6.3 High-Order Agent System 206 6.3.1 System Model 206
6.3.2 Consensus Condition 208 6.3.3 Consentability 211 6.4 Notes and
References 216 References 217 7 Consensus in Heterogeneous Multi-Agent
Systems 219 7.1 Integrator Agent System with Diverse Input and
Communication Delays 219 7.1.1 Consensus in Discrete-Time Systems 220 7.1.2
Consensus under Diverse Input Delays 221 7.1.3 Consensus under Diverse
Communication Delays and Input Delays 224 7.1.4 Continuous-Time System 229
7.1.5 Simulation Study 230 7.2 Double Integrator System with Diverse Input
Delays and Interconnection Uncertainties 233 7.2.1 Leader-Following
Consensus Algorithm 233 7.2.2 Consensus Condition under Symmetric Coupling
Weights 235 7.2.3 Robust Consensus under Asymmetric Perturbations 238 7.2.4
Simulation Study 240 7.3 High-Order Consensus in High-Order Systems 243
7.3.1 System Model 243 7.3.2 Consensus Condition 245 7.3.3 Existence of
High-Order Consensus Solutions 249 7.3.4 Constant Consensus 252 7.3.5
Consensus in Ideal Networks 254 7.4 Integrator-Chain Systems with Diverse
Communication Delays 255 7.4.1 Matching Condition for Self-Delay 255 7.4.2
Adaptive Adjustment of Self-Delay 255 7.4.3 Simulation Study 257 7.5 Notes
and References 265 References 266 Index 269