Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 22 for “"Distributed controllers"”.
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Design of Distributed Controllers Over Heterogeneous Networks
… to the architecture, design, and analysis of distributed controllers over heterogeneous networks. In particular, we consider the effects of communication constraints among the subcontrollers and subcontroller failures on the overall system performance. First, we consider the design of …
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Distributed reinforcement learning for self-reconfiguring modular robots
In this thesis, we study distributed reinforcement learning in the context of automating the design of decentralized control for groups of cooperating, coupled robots. Specifically, we develop a framework and algorithms for automatically generating distributed controllers for self-reconfiguring …
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Protecting the power grid: strategies against distributed controller compromise
… elements for monitoring and control. Distributed controllers play a prominent role in deploying this cohesive execution and are ubiquitous in the grid. As global information is shared and acted upon, faster response to system changes is achieved. However, failure or malfunction of a …
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Control With Structural Constraints: Theory and Implementation
… demonstrated in the design of decentralized and distributed controllers for autonomous vehicle formations. Both computational and experimental design results are provided. In addition, the convergence of a localized control algorithm has been studied on random network. The benefit of such control …
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Controller synthesis for reactive systems in distributed, real-time and hybrid settings
We investigate controller synthesis in distributed, real-time and hybrid settings. In distributed setting, we prove that the monadic second order theory of the event structure unfolding of every system of connectedly communicating processes (CCP) is decidable. With this, we show that the …
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Real-Time Distributed Control and Simulation of a Physical Emulator of a Flexible Manufacturing System
… will assist in the specification of included controllers. In particular, a physical emulator of a flexible manufacturing system (FMS) has been constructed. This emulator is being controlled by a simulation model that employs our new coordination architecture (which distributes both planning …
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Pragmatic approach to the development of robust real-time protocols
… research is concerned with the development of distributed real-time systems, in which software is used for the control of concurrent physical processes. These distributed control systems are required to periodically coordinate the operation of several autonomous physical processes, with the …
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Optimisation of Smart Grid performance using centralised and distributed control techniques
… be controlled by a large number of intelligent distributed controllers which must work together to coordinate their actions. The term Smart Grid is the umbrella term used to denote this combination of power systems, artificial intelligence, and communications engineering. This thesis focuses on …
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A gradient optimization approach to adaptive multi-robot control
… which were previously seen as unrelated. Stable, distributed controllers are generated by taking the gradient of this cost function. Two fundamental classes of multi-robot behaviors are delineated based on the convexity of the underlying cost function. Convex cost functions lead to consensus (all …
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Building blocks for co-design of controllers and implementation platforms in embedded systems
… in implementing feedback control applications on distributed embedded platforms is the realization of required control performance while utilizing minimal computational and communication resources. Determining such tradeoffs between control performance (e.g., stability, peak overshoot, etc.) and …
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Distributed Feedback Control Algorithms for Cooperative Locomotion: From Bipedal to Quadrupedal Robots
This thesis synthesizes general and scalable distributed nonlinear control algorithms with application to legged robots. It explores both naturally decentralized problems in legged locomotion, such as the collaborative control of human-lower extremity prosthesis and the decomposition of …
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New decentralized algorithms for spacecraft formation control based on a cyclic approach
… time varying and more complex interconnected distributed controllers. Experimental results of the implementation of these algorithms were obtained using the SPHERES testbed on board the International Space Station, validating many of the important properties of this decentralized control …
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E-Mobility Management: Towards a Grid-friendly Smart Charging Solution
… with others, namely, DSOs. For that sake, a distributed smart charging architecture is proposed in this thesis. It is event-driven and responds in nearly real-time to unforeseen and critical grid situations such as high/low voltage, congestion, phase unbalance, and harmonics. In that regard, …
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Distributed Energy Dynamics Control for Stable Power Electronic-Enabled Electric Power Systems
… space model, the thesis develops a multilayered distributed control architecture in which the nonlinear physical dynamics of each component are lifted to the higher-level linear energy space, capturing internal energy dynamics and real/reactive power flows, and integrated with the lower-level …
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Computationally Driven Algorithms for Distributed Control of Complex Systems
This dissertation studies the model reduction and distributed control problems for interconnected systems, i.e., systems that consist of multiple interacting agents/subsystems. The study of the analysis and synthesis problems for interconnected systems is motivated by the multiple applications that …
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Stability and Control in Complex Networks of Dynamical Systems
… network needs to be? How can decentralized or distributed controllers be designed? How the size of control network would scale with the size of networked system? Motivated by these questions, we began by studying the probability of stability of synchronization in random networks of oscillators. …
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Adaptive communication networks for heterogeneous teams of robots
… and unknown client positions. Finally, we derive distributed controllers for the special case where clients are static. We show that by the tuning of a control parameter our routers maintain a connected network using only local information. We support our theoretical claims with experimental …
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Development and Application of Modern Optimal Controllers for a Membrane Structure Using Vector Second Order Form
… piezoelectric actuators are used to develop distributed controllers for membranes. These actuators generate bending effects to suppress the vibration. The actuators attached to a membrane are relatively thick which makes the system heterogeneous; thus, an analytical solution cannot be …
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Information Theory and Cooperative Control in Networked Multi-Agent Systems with Applications to Smart Grid
… grid with communication constraints in which distributed customers equipped with renewable distributed generation (RDG) interact and trade energy in the grid. We introduce the key components and their interactions in the proposed control architecture and discuss the design of distributed …
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Predictable Real-Time Wireless Networking For Sensing And Control
… model, which is both realistic and amenable for distributed implementation, and a greedy scheduling algorithm to deliver as many packets as possible to the sink by a deadline in lossy multi-hop wireless sensor networks.</p> <p>Real-time routing is a basic element of closed-loop, real-time sensing …
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