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The Certainty Equivalence Principle ...

Liu, Tao.

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The Certainty Equivalence Principle and the Cooperative Control of Networked Systems.

Record Type:	Electronic resources : Monograph/item
Title/Author:	The Certainty Equivalence Principle and the Cooperative Control of Networked Systems./
Author:	Liu, Tao.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2018,
Description:	207 p.
Notes:	Source: Dissertation Abstracts International, Volume: 80-03(E), Section: B.
Contained By:	Dissertation Abstracts International80-03B(E).
Subject:	Mechanical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=11012155
ISBN:	9780438658578

The Certainty Equivalence Principle and the Cooperative Control of Networked Systems.
Liu, Tao.

The Certainty Equivalence Principle and the Cooperative Control of Networked Systems. - Ann Arbor : ProQuest Dissertations & Theses, 2018 - 207 p.

Source: Dissertation Abstracts International, Volume: 80-03(E), Section: B.

Thesis (Ph.D.)--The Chinese University of Hong Kong (Hong Kong), 2018.

The past decade has witnessed a tremendous expansion on various applications of networked control systems such as formation of mobile robots, attitude alignment of multiple spacecrafts, area coverage of mobile sensor networks, and so on. Meanwhile, these applications have led to an emerging research topic: cooperative control of networked systems. Starting from systems with simple dynamics, the current research focus of cooperative control of networked systems has progressed to systems with more and more complex dynamics. However, the complex dynamics of each subsystem coupled through switching and even disconnected network topologies, have made the control problems of networked systems much more demanding. Thus, it is of interest to develop a systematic approach to handling cooperative control problems of complex networked systems.

ISBN: 9780438658578Subjects--Topical Terms:

649730
Mechanical engineering.

The Certainty Equivalence Principle and the Cooperative Control of Networked Systems.
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100 1 $a Liu, Tao. $3 1262614
245 1 4 $a The Certainty Equivalence Principle and the Cooperative Control of Networked Systems.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2018
300 $a 207 p.
500 $a Source: Dissertation Abstracts International, Volume: 80-03(E), Section: B.
502 $a Thesis (Ph.D.)--The Chinese University of Hong Kong (Hong Kong), 2018.
520 $a The past decade has witnessed a tremendous expansion on various applications of networked control systems such as formation of mobile robots, attitude alignment of multiple spacecrafts, area coverage of mobile sensor networks, and so on. Meanwhile, these applications have led to an emerging research topic: cooperative control of networked systems. Starting from systems with simple dynamics, the current research focus of cooperative control of networked systems has progressed to systems with more and more complex dynamics. However, the complex dynamics of each subsystem coupled through switching and even disconnected network topologies, have made the control problems of networked systems much more demanding. Thus, it is of interest to develop a systematic approach to handling cooperative control problems of complex networked systems.
520 $a A significant challenge to deal with various cooperative control problems of networked systems is that the designed control law has to satisfy static or even switching communication constraints imposed by the communication network. Such a control law is called a distributed control law. In this thesis, we concentrate on cooperative control problems of networked systems in a leader-follower architecture, which include a large class of cooperative control problems such as the leader-following consensus problem and the cooperative output regulation problem. The leader-following consensus problem aims to design a distributed control law so that the state or the output of each follower subsystem asymptotically track a prescribed trajectory generated by a leader system. In this sense, the cooperative output regulation problem is more general than the leader-following consensus problem in that it not only achieves leader-following consensus, but also allows model uncertainties and external disturbances.
520 $a To handle the above class of cooperative control problems, we propose a general framework which is based on the certainty equivalence principle. This framework consists of three steps. The first step is to find a purely decentralized control law for the complex networked systems under the assumption that the leader's information is available for the design of the control law of every follower. The second step is to design a so-called distributed observer of the leader system, which is able to provide for every follower an estimation of the leader's information while satisfying the communication constraints. The third step is to synthesize a distributed control law by composing the purely decentralized control law and the distributed observer, and verify that if the distributed control law can achieve the same control objective as that of the purely decentralized control law. If this is indeed the case, then we say that the so obtained distributed control law satisfies the certainty equivalence principle. This certainty equivalence principle based approach can be viewed as a generalization of the well-known Luenberger observer based state-feedback controller design for a single linear time-invariant system, to complex networked systems. For a linear time-invariant system, the satisfaction of the certainty equivalence principle is a direct consequence of the separation principle, which, however, cannot be guaranteed to hold for complex networked systems. In particular, the successful employment of the general design framework to specific cooperative control problems of networked systems calls for addressing at least two critical issues:
520 $a 1) First, given a leader system and a communication network, does a distributed observer exist for this leader system?
520 $a 2) Second, assuming a purely decentralized control law solves the given problem under the assumption that every follower subsystem can access the information of the leader system, and assuming the distributed observer for the leader system exists, does the resulting distributed control law satisfy the certainty equivalence principle?
520 $a In general, the technical challenges to be addressed in this thesis mainly arise from the above two issues when we use this general design framework to a variety of specific cooperative control problems of network systems.
520 $a The first part of the thesis is concerned with two leader-following consensus problems. The main results of this part are summarized as follows:
520 $a 1. The leader-following consensus with disturbance rejection problem of networked Euler-Lagrange systems is studied. A key result is established to guarantee the existence of an exponentially convergent adaptive distributed observer for linear leader systems without exponential growing modes, under a directed and jointly connected switching communication network. Moreover, this result provides a specific Lyapunov function for the error dynamics of the adaptive distributed observer, which plays a crucial role in showing that the distributed control law satisfies the certainty equivalence principle.
520 $a 2. We solve the leader-following attitude consensus problem of networked rigid body systems subject to a jointly connected switching communication network.
520 $a (Abstract shortened by ProQuest.).
590 $a School code: 1307.
650 4 $a Mechanical engineering. $3 649730
650 4 $a Systems science. $3 3168411
650 4 $a Robotics. $3 519753
690 $a 0548
690 $a 0790
690 $a 0771
710 2 $a The Chinese University of Hong Kong (Hong Kong). $b Mechanical and Automation Engineering. $3 3430073
773 0 $t Dissertation Abstracts International $g 80-03B(E).
790 $a 1307
791 $a Ph.D.
792 $a 2018
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=11012155