Murray Wiki - User contributions [en]

June 2007 Meetings

2007-06-03T16:19:29Z

Keviczky: /* Tue, 5 Jun */

The list below has times that I am available to meet between 4 June and 15 June. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>
==== Mon, 4 Jun ====
Travel
</td><td width=20%>
==== Tue, 5 Jun ====
{{agenda begin}}
{{agenda item|4:00p|Tamas}}
{{agenda item|4:30p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Wed, 6 June ====
{{agenda begin}}
{{agenda item|5:00p|Tim}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Thu, 7 Jun ====
{{agenda begin}}
{{agenda item|3:00p|Elisa}}
{{agenda item|4:00p|Waydo}}
{{agenda item|5:00p|Julia}}
{{agenda end}}
</td><td width=20%>

==== Fri, 8 Jun ====
Commencement
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>

==== Mon, 11 Jun ====
DARPA preparations

</td><td width=20%>

==== Tue, 12 Jun ====
DARPA Site Visit
* Morning: demos at Santa Anita, north lot
* Afternoon: DARPA site visit

No group meeting
</td><td width=20%>

==== Wed, 13 Jun ====
{{agenda begin}}
{{agenda item|9:00a|DGC SURF <br> + Nok, Sam, Noel}}
{{agenda item|10:00a|Synbio SURF <br>+ Mary, Elisa}}
{{agenda item||}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Thu, 14 Jun ====
{{agenda begin}}
{{agenda item|2:00p|Open}}
{{agenda item|3:00p|Stefano}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Fri, 15 Jun ====
Travel
</td></tr>
</table>

Template:Distributed Receding Horizon Control Next

2006-05-19T11:19:30Z

Keviczky:

CDS 270-2, Spring 2006

Template:Consensus Problem and Algorithms Previous

2006-05-19T11:17:33Z

Keviczky:

Estimation and Control in Networked Systems

Template:Consensus Problem and Algorithms Next

2006-05-19T11:17:20Z

Keviczky:

Cooperative and Coordinated Control Scheme for Multi-Agent Systems

Template:Cooperative and Coordinated Control Scheme for Multi-Agent Systems Previous

2006-05-19T11:16:41Z

Keviczky:

Consensus Problem and Algorithms

Template:Cooperative and Coordinated Control Scheme for Multi-Agent Systems Next

2006-05-19T11:16:23Z

Keviczky:

Distributed Receding Horizon Control

Template:Distributed Receding Horizon Control Previous

2006-05-19T11:15:46Z

Keviczky:

Cooperative and Coordinated Control Scheme for Multi-Agent Systems

CDS 270-2, Spring 2006

2006-05-19T11:12:21Z

Keviczky:

<table width="100%" cellspacing=0>
<tr valign=top>
<td rowspan=2 align=center> [[Image:citlogo.png|75px]]
<td align=center><font color='blue' size='+2'>Networked Control Systems</font>
<td rowspan=2 align=center> [[Image:cdslogo.png|90px]]
<tr valign=top><td align=center><font color='blue' size='+1'>Spring 2006</font>
</table>

<table align=right><tr><td>__TOC__</table>
<table cellspacing=0 cellpadding=0>
<tr valign=top>
<td width=60%>
* Instructor: [[User:Murray|Richard M. Murray]]
* Co-instructors: [[User:Keviczky|Tamas Keviczky]], [[User:Mostofi|Yasi Mostofi]], [[User:Sandberg|Henrik Sandberg]], [[User:Sinopoli|Bruno Sinopoli]]
<td align=center>
<table cellpadding=0 cellspacing=0><tr><td>
* [[Media:cds270-2_syllabus_sp06.pdf|Course syllabus]]
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds270 Course mailing list]
* [[CDS 270: Information for Lecturers|Information for lecturers]]
</table>
<tr><td colspan=2>
* Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos
* Lectures: MWF 2-3 pm, 125 Steele
</table>

== Course Schedule ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=5 | 1
| colspan=3 | '''Introduction to Networked Control Systems (R. Murray)'''
|-
| 27 Mar (M)
| [[NCS: Introduction|Course overview, applications and administration]]
| [[Media:cds270-2_syllabus_sp06.pdf|Syllabus]]; {{ncsbook|introduction|Ch 1}}
|-
| 29 Mar (W)
| [[Alice: Introduction|Case study: Alice]]
| [http://www.cds.caltech.edu/~murray/papers/2005t_cre+06-jfr.html Cremean et al, 2005]
|-
| colspan=3 | '''Networked embedded systems programming (R. Murray)'''
|-
| 31 Mar (F)
| [[NCS: Message Transfer Systems|Message transfer systems: spread]]
| {{ncsbook|embedded|Ch 2}}; [http://portal.acm.org/citation.cfm?id=359563 Lamport, 1978]
|-
| align=center rowspan=3 | 2
| 3 Apr (M)
| [[NCS: Multi-Threaded Control Systems|Multi-threaded control systems: pthreads]]
| {{ncsbook|embedded|Ch 2}}; [http://www.llnl.gov/computing/tutorials/pthreads Pthreads]
|-
| 5 Apr (W)
| [[Alice: Vehicle Control|Alice: adrive, astate, trajFollower]]
| {{ncsbook|alice|App A}}; [http://gc.caltech.edu/wiki/index.php/Alice GCwiki]
|-
| 7 Apr* (F)
| No class
|
|-
| align=center rowspan=4 | 3
| colspan=3 | '''Real-time trajectory generation and receding horizon control (R. Murray)'''
|-
| 10 Apr (M)
| [[NCS: Real-Time Trajectory Generation|Real-time trajectory generation]]
| {{ncsbook|trajgen|Ch 3}}
|-
| 12 Apr* (W)
| [[NCS: Receding Horizon Control|Receding horizon control]] (T. Keviczky)
| {{ncsbook|trajgen|Ch 3}}
|-
| 14 Apr (F)
| [[Alice: Path Planning|Alice: plannerModule]]
| {{ncsbook|alice|App A}}; [http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Kogan, 2005]
|-
| align=center rowspan=4 | 4
| colspan=3 | '''State estimation (H. Sandberg)'''
|-
| 17 Apr (M)
| [[NCS: Kalman Filtering|Kalman filtering]]
| {{ncsbook|estim|Ch 4}}; [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Welch and Bishop]
|-
| 19 Apr (W)
| [[NCS: Moving Horizon Estimation|Moving horizon estimation]]
| {{ncsbook|estim|Ch 4}}
|-
| 21 Apr (F)
| [[Alice: Road Following|Alice: roadFollowing]] (L. Cremean)
| {{ncsbook|alice|App A}}
|-
| align=center rowspan=4 | 5
| colspan=3 | '''Packet-based estimation and control, I (B. Sinopoli)'''
|-
| 24 Apr (M)
| [[NCS: Packet-based Estimation| Packet-based estimation]]
| {{ncsbook|pack_estim|Ch 5}}
|-
| 26 Apr (W)
| [[NCS: Packet-based Control: the TCP case|Packet-based Control: the TCP case]]
| {{ncsbook|pack_cont|Ch 5}}
|-
| 28 Apr (F)
| [[NCS: Packet-based Control: the UDP case|Packet-based Control: the UDP case]]
| {{ncsbook|pack_cont2|Ch 5}}
|-
| align=center rowspan=4 | 6
| colspan=3 | '''Packet-based estimation and control, II (L. Shi, Y. Mostofi)'''
|-
| 1 May (M)
| [[Packet-based Control with Norm Bounded Uncertainties]]
| {{ncsbook|pack_cont_uncertainty|Ch 6}}
|-
| 3 May (W)
| [[Impact of Communication Noise on Estimation over Wireless Links]]
| {{ncsbook|pack_cont_uncertainty|Ch 6}}
|-
| 5 May (F)
| [[Optimum Receiver Design for Estimation over Wireless Links]]
| {{ncsbook|pack_cont_uncertainty|Ch 6}}
|-
| align=center rowspan=4 | 7
| colspan=3 | '''Distributed estimation and control (V. Gupta)'''
|-
| 8 May* (M)
| [[Distributed Estimation|Distributed Estimation]]
| {{ncsbook|pack_cont_uncertainty|Ch 7}}
|-
| 10 May* (W)
| [[Introduction to Distributed Control|Introduction to Distributed Control]]
| {{ncsbook|pack_cont_uncertainty|Ch 7}}
|-
| 12 May (F)
| [[Estimation and Control in Networked Systems|Estimation and Control in Networked Systems]]
| {{ncsbook|pack_cont_uncertainty|Ch 7}}
|-
| align=center rowspan=4 | 8
| colspan=3 | '''Cooperative control of multi-agent systems (Z. Jin, T. Keviczky)'''
|-
| 15 May (M)
| [[Consensus Problem and Algorithms|Consensus Problem and Algorithms]]
| {{ncsbook|pack_cont_uncertainty|Ch 8}}
|-
| 17 May* (W)
| [[Cooperative and Coordinated Control Scheme for Multi-Agent Systems|Cooperative and Coordinated Control Scheme for Multi-Agent Systems]]
| {{ncsbook|pack_cont_uncertainty|Ch 8}}
|-
| 19 May (F)
| [[Distributed Receding Horizon Control|Distributed Receding Horizon Control]]
| {{ncsbook|pack_cont_uncertainty|Ch 8}}
|-
| align=center rowspan=4 | 9
| colspan=3 | '''Project Presentations (All)'''
{{MWFrow|
week=9|
mondate=22 May|montopic=No class|monreading=|
weddate=24 May|wedtopic=Project presentations|wedreading=|
fridate=26 May|fritopic=Project presentations|frireading=|
}}
|}

== Course Description ==

Increases in fast and inexpensive computing and communications have enabled a new generation information-rich control systems that rely on multi-threaded networked execution, distributed optimization, adaptation and learning, and contingency management in increasingly sophisticated ways. This course will describe a framework for building such systems and lay out some of the challenges to control theory that must be addressed to enable systematic design and analysis. Two examples will be used to illustrate the results and to serve as testbeds for course projects: [[Alice]], an autonomous vehicle that competed in the 2005 DARPA Grand
Challenge and [[RoboFlag]], a robotic version of capture the flag. Key features of these systems include highly sensory-driven, information rich feedback systems, higher levels of decision making for goal and contingency management, and multi-threaded, networked control architectures.

== Course Administration ==

This course is a special topics course in which advanced students will prepare and present much of the lecture material. There is no required homework and no midterm or final exam. Course grades will be based on a course project.

== Course Project ==

All students in the course will demonstrate their knowledge of the material by analyzing or implementing a networked control system algorithm. Two testbeds are available for use by the class:

* <p> '''[[Alice]]''' - Alice is an autonomous vehicle that was built by [http://team.caltech.edu Caltech undergraduates] to compete in the 2005 DARPA Grand Challenge. It is fully equipped with multiple terrain sensing cameras and LADARS, two GPS units and an inertial measurement unit (IMU) for measuring position and orientation, and 10 CPUs of computing horsepower inteconnected by a 1 Gb/s ethernet network. A module software architecture allows new functionality to be implemented and tested with relative ease. Requires knowledge of C/C++ programming under linux.</p>

* <p> '''[[RoboFlag]]''' - RoboFlag is a robotic version of capture the flag in which teams of 6-8 robots with 1-2 humans compete against a like team. A high fidelity simulator is available that allow full simulation of the dynamics, sensing and communications subsystems, providing realistic operation. Features include limited bitrate communication channels, limited sensor range for detecting opposing robots, and a graphical user interface for human-in-the-loop operation. Required knowlege of C/C++ program under Windows.</p>

'''Project ideas''' (will be expanded during the term)
* Benchmark the performance of different messaging protocols (eg, broadcast, UDP, TCP) for communicating the state and terrain data on Alice
* Implement and analyze the effect of "shock absobers" (control buffers, state estimators) on RoboFlag
* Implement state estimation and/or multi-description coding on Alice to handle lost packets of terrain data

<span id=archive />

[[Category:Courses]] [[Category:2005-06 Courses]]

File:L8-3 drhc.pdf

2006-05-19T11:05:32Z

Keviczky:

Distributed Receding Horizon Control

2006-05-19T11:04:15Z

Keviczky:

{{cds270-2 header}} 


This lecture will illustrate how the tools described in the [[NCS: Receding Horizon Control#Lecture Materials|Wednesday 04/12/06]] lecture can be used to study stability of decentralized receding horizon control (DRHC). We will discuss why the problem is more difficult and what are the main issues that drive the problem. Stability of DRHC will be studied in a discrete-time framework for the class of dynamically decoupled systems. Alternative approaches and various practical methods to help constraint fulfillment will be mentioned as well.

== Lecture Materials ==


[[Media:L8-3_drhc.pdf|Lecture: Distributed Receding Horizon Control]]

== Reading ==
* <p>[http://www.aem.umn.edu/people/students/keviczky/files/KevBorBal_CDCECC05.pdf Stability analysis of decentralized RHC for decoupled systems], T. Keviczky, F. Borrelli and G. J. Balas. 44th IEEE Conf. on Decision and Control, and European Control Conference, December 2005, Seville, Spain. This paper contains a description of the discrete-time distributed RHC framework discussed in class and gives sufficient conditions for stability.</p>
* <p>[http://www.soe.ucsc.edu/~dunbar/docs/papers/AutomaticaRev.pdf Distributed receding horizon control for multi-vehicle formation stabilization], W. B. Dunbar and R. M. Murray. Automatica, 2006, Vol. 42, No. 4, pp. 549-558. This paper presents a continuous-time distributed RHC framework and uses exchange of open-loop optimal trajectories to achieve stability.</p>

== Additional Resources ==
* <p>[http://dx.doi.org/10.1109/37.980246 Distributed Model Predictive Control], E. Camponogara, D. Jia, B. H. Krogh and S. Talukdar. IEEE Control Systems Magazine, February 2002. This is one of the earlier works considering distributed RHC for dynamically coupled LTI subsystem dynamics with quadratic separable cost functions.</p>
* <p>[http://www.aem.umn.edu/people/students/keviczky/files/TKeviczky_PhDthesis.pdf Decentralized Receding Horizon Control of Large Scale Dynamically Decoupled Systems], T. Keviczky. PhD Thesis, September 2005.</p>
* <p>[http://etd.caltech.edu/etd/available/etd-05282004-170123/unrestricted/WBDdissertation.pdf Distributed Receding Horizon Control of Multiagent Systems], W. B. Dunbar. PhD Thesis, April 2004.</p>
* <p>[http://ieeexplore.ieee.org/iel5/9503/30144/01383977.pdf?tp=&arnumber=1383977&isnumber=30144 A Decentralized Algorithm for Robust Constrained Model Predictive Control], A. Richards and J. How. American Control Conference, June 2004, Boston, Massachusetts. This paper uses robust constraint fulfillment for a hierarchical interconnection graph where the exchange of optimal control policies occur sequentially. Feasibility of coupling constraints (e.g. collision avoidance) is addressed in this setting for linear, dynamically decoupled subsystems.</p>

File:L3-2 rhc.pdf

2006-04-12T17:03:02Z

Keviczky:

NCS: Receding Horizon Control

2006-04-10T22:36:54Z

Keviczky:

{{cds270-2 header}} 


In this lecture the receding horizon control (RHC) principle is described and the main ingredients required for its stability are discussed. After a brief review of Lyapunov stability, the use of terminal cost, constraint and controller is shown in a discrete-time constrained nonlinear system formulation. Treatment of stability is also illustrated in a continuous-time unconstrained nonlinear system setting, using a control Lyapunov function (CLF)-based terminal cost.

== Lecture Materials ==


[[Media:L3-2_rhc.pdf|Lecture: Receding Horizon Control]]

== Reading ==
* <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p>
* <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p>

== Additional Resources ==
* <p>[http://www.eng.newcastle.edu.au/eecs/cdsc/books/cce/ Constrained Control and Estimation - An Optimisation Approach], G. C. Goodwin, M. M. Seron, J. A. De Dona. Springer Verlag, 2005. This is a recent book treating constrained control and estimation in a unified framework (including finite horizon optimal control and RHC) using discrete-time formulation. The website has a lot of additional useful and interesting material.</p>
* <p>[http://www.seas.upenn.edu/~jadbabai/papers/TAC_jh_final.pdf Unconstrained Receding-Horizon Control of Nonlinear Systems], A. Jadbabaie, J. Yu and J. Hauser. IEEE Transactions on Automatic Control, May 2001, Vol. 46, No. 5, pp. 776-783. This paper might be a little dense for the first read, but contains an essence of A. Jadbabaie's PhD thesis on CLF-based nonlinear RHC.</p>
* <p>[http://www.seas.upenn.edu/~jadbabai/papers/Phdthesis.pdf Nonlinear Receding Horizon Control: A Control Lyapunov Function Approach], A. Jadbabaie. PhD Thesis, 2000.</p>

NCS: Receding Horizon Control

2006-04-10T22:35:10Z

Keviczky:

{{cds270-2 header}} 


In this lecture the receding horizon control (RHC) principle is described and the main ingredients required for its stability are discussed. After a brief review of Lyapunov stability, the use of terminal cost, constraint and controller is shown in a discrete-time constrained nonlinear system formulation. Treatment of stability is also illustrated in a continuous-time unconstrained nonlinear system setting, using a control Lyapunov function (CLF)-based terminal cost.

== Lecture Materials ==



== Reading ==
* <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p>
* <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p>

== Additional Resources ==
* <p>[http://www.eng.newcastle.edu.au/eecs/cdsc/books/cce/ Constrained Control and Estimation - An Optimisation Approach], G. C. Goodwin, M. M. Seron, J. A. De Dona. Springer Verlag, 2005. This is a recent book treating constrained control and estimation in a unified framework (including finite horizon optimal control and RHC) using discrete-time formulation. The website has a lot of additional useful and interesting material.</p>
* <p>[http://www.seas.upenn.edu/~jadbabai/papers/TAC_jh_final.pdf Unconstrained Receding-Horizon Control of Nonlinear Systems], A. Jadbabaie, J. Yu and J. Hauser. IEEE Transactions on Automatic Control, May 2001, Vol. 46, No. 5, pp. 776-783. This paper might be a little dense for the first read, but contains an essence of A. Jadbabaie's PhD thesis on CLF-based nonlinear RHC.</p>
* <p>[http://www.seas.upenn.edu/~jadbabai/papers/Phdthesis.pdf Nonlinear Receding Horizon Control: A Control Lyapunov Function Approach], A. Jadbabaie. PhD Thesis, 2000.</p>

NCS: Receding Horizon Control

2006-04-10T22:29:38Z

Keviczky: /* Reading */

{{cds270-2 header}} 


This is the template for CDS 270 lectures. If you edit this page, you will see comments describing what goes in each section. '''Do not edit this template.''' See [[CDS 270: Information for Lecturers]] for more information on how to create a wiki page corresponding to a lecture.

== Lecture Materials ==



== Reading ==
* <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p>
* <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p>

== Additional Resources ==
* <p>[http://www.eng.newcastle.edu.au/eecs/cdsc/books/cce/ Constrained Control and Estimation - An Optimisation Approach], G. C. Goodwin, M. M. Seron, J. A. De Dona. Springer Verlag, 2005. This is a recent book treating constrained control and estimation in a unified framework (including finite horizon optimal control and RHC) using discrete-time formulation. The website has a lot of additional useful and interesting material.</p>
* <p>[http://www.seas.upenn.edu/~jadbabai/papers/TAC_jh_final.pdf Unconstrained Receding-Horizon Control of Nonlinear Systems], A. Jadbabaie, J. Yu and J. Hauser. IEEE Transactions on Automatic Control, May 2001, Vol. 46, No. 5, pp. 776-783. This paper might be a little dense for the first read, but contains an essence of A. Jadbabaie's PhD thesis on CLF-based nonlinear RHC.</p>
* <p>[http://www.seas.upenn.edu/~jadbabai/papers/Phdthesis.pdf Nonlinear Receding Horizon Control: A Control Lyapunov Function Approach], A. Jadbabaie. PhD Thesis, 2000.</p>

NCS: Receding Horizon Control

2006-04-10T22:23:47Z

Keviczky: /* Additional Resources */