Networked Sensing, Estimation and Control Systems: Difference between revisions
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== Purpose and Scope == | == Purpose and Scope == | ||
The book is intended for researchers who are interested in the | |||
analysis and design of sensing, estimation and control systems in a | |||
networked setting. We focus primary on the effects of the network on | |||
the stability and performance of the system, including the effects of | |||
packet loss, time delay and distributed computation. We have | |||
attempted to provide a broad view of the field, in the hopes that the | |||
text will be useful to a wide crossection of researchers. Most of the | |||
results are presented in the discrete time setting, with references to | |||
the literature for the continuous time analogs. We have also | |||
attempted to include a fairly extensive review of the current | |||
literature at the end of each chapter, with an emphasis on papers that | |||
are frequently referenced by others. To keep the material focused, we | |||
have chosen to only touch on material on optimization-based control | |||
(e.g., receding horizon control) or protocols for distributed systems, | |||
although these are often an integral part of complex networked control | |||
systems. References to the literature are given for readers | |||
interested in these important topics. | |||
== Chapter Table == | == Chapter Table == | ||
Line 10: | Line 28: | ||
* Motivation for writing the book | * Motivation for writing the book | ||
* Intended audience and prerequisites | * Intended audience and prerequisites | ||
==== [[ncsbook/notation|Notation]] ==== | |||
* Internal chapter describing notation conventions | |||
==== I. Introduction to Networked Control Systems ==== | ==== I. Introduction to Networked Control Systems ==== | ||
Line 22: | Line 43: | ||
** Talk about distributed information: centralized versus decentralized, distributed | ** Talk about distributed information: centralized versus decentralized, distributed | ||
* Summary of the development of NCS | * Summary of the development of NCS | ||
==== II. State Estimation and Sensor Fusion ==== | ==== II. [[ncsbook/estim|State Estimation and Sensor Fusion]] ==== | ||
{| width=100% | {| width=100% | ||
|- | |- | ||
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* Durrant-Whyte | * Durrant-Whyte | ||
|} | |} | ||
==== III. Information Theory ==== | ==== III. Information Theory ==== | ||
{| width=100% | |||
|- | |||
| width=50% valign=top | | |||
* Entropy and mutual information | * Entropy and mutual information | ||
* Bode's integral and Kalman filtering (from info theory point of view) | * Bode's integral and Kalman filtering (from info theory point of view) | ||
* Quantization tools (Nair, ...; 2007 IEEE Proc, Jan) | * Quantization tools (Nair, ...; 2007 IEEE Proc, Jan) | ||
* Remark (19 Dec 08): do we want to include anything on rate distortion theory? Not really required for information below, but perhaps we want to add some material that could use that? | * Remark (19 Dec 08): do we want to include anything on rate distortion theory? Not really required for information below, but perhaps we want to add some material that could use that? | ||
====IV. Jump Linear | | width=50% valign=top | | ||
References | |||
* Tatikonda (quantization) | |||
* Mahler/Qiu | |||
* Martins (Bode/Shannon)? | |||
|} | |||
====IV. [[ncsbook/markjls|Markovian Jump Linear Systems]] ==== | |||
{| width=100% | |||
|- | |||
| width=50% valign=top | | |||
* Definitions and fundamental results | * Definitions and fundamental results | ||
* Effects of packet loss | * Effects of packet loss | ||
* Effects of delay | * Effects of delay | ||
* Extensions to Control | * Extensions to Control | ||
==== V. Packet-Based Estimation (focus on single sensor) ==== | | width=50% valign=top | | ||
References | |||
* Fang | |||
* Mariton, Costa et al (JLMS) | |||
* Nilsson (delay)? | |||
|} | |||
==== V. Rate-Limited Estimation and Control ==== | |||
{| width=100% | |||
|- | |||
| width=50% valign=top | | |||
* Idea: talk about control applications where quantization and data rate matter (at bit-level) | |||
* Data-rate theorem (sum of unstable evalues) | |||
* Bode/Shannon theorem | |||
| width=50% valign=top | | |||
References | |||
* Tatikonda and Mitter | |||
* Martins | |||
|} | |||
==== VI. [[ncsbook/pbestim|Packet-Based Estimation and Control]] (focus on single sensor) ==== | |||
{| width=100% | {| width=100% | ||
|- | |- | ||
| width=50% valign=top | | | width=50% valign=top | | ||
* Problem setup and useful lemmas | * Estimation | ||
* Expected value of covariance | ** Problem setup and useful lemmas | ||
* Probabilistic bounds | ** Expected value of covariance | ||
* Sending measurements versus estimates | ** Probabilistic bounds | ||
* Markov models for packet loss (JLMS) | ** Sending measurements versus estimates | ||
* Multi-channel and/or multi-sensor? | ** Markov models for packet loss (JLMS) | ||
** Multi-channel and/or multi-sensor? | |||
* Control | |||
** TCP vs UDP | |||
** LQG extensions | |||
** Effects of quantization (?) | |||
** Actuation buffers | |||
** Information patterns | |||
** Remark: should we include something about "scheduling" results? Go back to early Brockett work, then Walsh, etc? | |||
** Nonlinear extensions | |||
* Two-block | |||
| width=50% valign=top | | | width=50% valign=top | | ||
References | References | ||
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* Epstein et al (Automatica 2008), Shi et al (TBD, 2008) | * Epstein et al (Automatica 2008), Shi et al (TBD, 2008) | ||
* Hespanha, Gupta et al | * Hespanha, Gupta et al | ||
* Xie et al | |||
* Delchamps, Nair/Evans, Elia/Mitter | |||
* Schenato et al (IEEE Proc, 2007 + recent papers on buffers?) | |||
* P. R. Kumar | |||
* Gupta, Epstein (?) | |||
* Sinopoli (Allerton 2007) | |||
* T. Basar | |||
* Liberzon (nonlinear) | |||
Examples | |||
* Building systems (temperature, humidity, etc) - first order models | |||
* Vehicle tracking/MVWT - second order models (linearized?) | |||
* Vehicle systems/MVWT/Alice | |||
|} | |} | ||
==== VII. Information Flow on Graphs ==== | ==== VII. Information Flow on Graphs ==== | ||
{| width=100% | |||
|- | |||
| width=50% valign=top | | |||
* Review of graph theory | * Review of graph theory | ||
* Average consensus (including rates) | * Average consensus (including rates) | ||
* Switching, time delays, ... | * Switching, time delays, ... | ||
* Gossip algorithms, load balancing, ... | * Gossip algorithms, load balancing, ... | ||
* Additional reading: quantized consensus | |||
| width=50% valign=top | | |||
References | References | ||
* Fax, Olfati-Saber | * Fax, Olfati-Saber, Moreau | ||
* Jadbabaie et al | * Bertsekes/Tsitsiklis, Jadbabaie et al | ||
* Boyd, Shah et al | * Xiao/Boyd, Shah et al | ||
* Upfal (load balancing) | * Upfal (load balancing) | ||
==== VIII. Distributed Estimation ==== | Examples: | ||
* Leader election, counting number of nodes, etc | |||
* Distributed accounting (ala Spanos) | |||
* Load balancing in computing systems | |||
|} | |||
==== VIII. [[ncsbook/distestim|Distributed Estimation]] ==== | |||
{| width=100% | |||
|- | |||
| width=50% valign=top | | |||
* Centralized fusion (information filters) | * Centralized fusion (information filters) | ||
* Hierarchical fusion (plus measurements vs estimates?) | * Hierarchical fusion (plus measurements vs estimates?) | ||
* Decentralized Kalman filtering (full connectivity -> graph) | * Decentralized Kalman filtering (full connectivity -> graph) | ||
* Effects of packet loss | * Effects of packet loss | ||
| width=50% valign=top | | |||
References | References | ||
* Speyer, Chong, Durrant-Whyte | * Speyer, Chong, Durrant-Whyte | ||
* Spanos, Olfati-Saber (DKF via consensus) | |||
* Gupta, PhD | |||
Examples | |||
* Distributed sensor fusion for Alice | |||
* RoboFlag/MVWT | |||
|} | |||
==== IX. Distributed Control ==== | ==== IX. Distributed Control ==== | ||
{| width=100% | {| width=100% | ||
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* Bamieh, Lall, Dullerud, D'Andrea (spatially invariant) | * Bamieh, Lall, Dullerud, D'Andrea (spatially invariant) | ||
* Qiu work on multi-channel bandwidth allocation | * Qiu work on multi-channel bandwidth allocation | ||
Examples | |||
* Formation control (spacecraft, platoons) | |||
* RoboFlag/MVWT (Zhipu + new CIT work) | |||
|} | |} | ||
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References | References | ||
* Bullo, Cortes, Martinez | * Bullo, Cortes, Martinez | ||
* Egerstedt | * Egerstedt, Fiorelli/Leonard | ||
Examples | |||
* RoboFlag subproblems/MVWT | |||
|} | |} | ||
==== XI. Efficient Computation and Communications (application chapter) ==== | ==== XI. Efficient Computation and Communications (application chapter) ==== | ||
{| width=100% | |||
|- | |||
| width=50% valign=top | | |||
* Shock aborbers | * Shock aborbers | ||
* Measurements versus estimates | * Measurements versus estimates | ||
Line 128: | Line 223: | ||
* Event-based control (transmit when necessary) | * Event-based control (transmit when necessary) | ||
* Trading communication for computation (eg, estimate error at receiver; transmit new measurement if large) | * Trading communication for computation (eg, estimate error at receiver; transmit new measurement if large) | ||
| width=50% valign=top | | |||
Examples | |||
* Alice sensor fusion (perceptor rate choices) | |||
* RoboFlag/MVWT | |||
References | |||
* P. R. Kumar | |||
* Walsh (TAC 2002) | |||
|} | |||
==== XII. Implementation (application chapter) ==== | ==== XII. Implementation (application chapter) ==== | ||
* Robustness (byzantine) | * Robustness (byzantine) | ||
* Synchronization (Lamport) | * Synchronization (Lamport) | ||
==== XIII. Sensor Networks (application chapter) ==== | ==== XIII. [[ncsbook/sensnets|Sensor Networks]] (application chapter) ==== | ||
{| width=100% | {| width=100% | ||
|- | |- | ||
Line 144: | Line 247: | ||
References | References | ||
* Shi, Johansson, Murray (sensor topology/energy) | * Shi, Johansson, Murray (sensor topology/energy) | ||
Examples | |||
* JPL/Huntington example | |||
* UTRC example? [Vijay/RMM/Ling] | |||
|} | |} | ||
==== | ==== XIII. Future Directions and Open Problems ==== | ||
* Robustness (byzantine) | * Robustness (byzantine) | ||
* Design of networks (utility-based theory, Low/Kelly) | * Design of networks (utility-based theory, Low/Kelly) | ||
== Additional notes == | == Additional notes == | ||
==== Pasadena, 27 Jun 08 (RMM, LS, BS) ==== | |||
Writing plan (<s>not good</s>, OK, ''very good'') | |||
* Updated 19 Dec 08 (RM, LS) | |||
* RM: 3Q08, <s>4Q08</s>, <s>1Q09</s>, <s>2Q09</s>, ''2009-10'' | |||
* BS: <s>3Q08</s>, <s>4Q08</s>, ''1Q09'', ''2Q09'', 2009-10 | |||
* LS: <s>3Q08</s>, ''4Q08'', <s>1Q09</s>, 2Q09, ''3Q09'', ''2009-10'' | |||
* VG: 3Q08, 4Q08 | |||
==== Hong Kong, 19 Dec 08 (RMM + LS) ==== | ==== Hong Kong, 19 Dec 08 (RMM + LS) ==== | ||
* Do we want to say something about bandwidth allocation in Alice as an example? Where does it fit? Could be a running example or perhaps go in one of the application chapters? | * Do we want to say something about bandwidth allocation in Alice as an example? Where does it fit? Could be a running example or perhaps go in one of the application chapters? | ||
* Ling out on travel through 27 Jan; could do a phone call after that | |||
== Related Information == | == Related Information == | ||
Line 166: | Line 281: | ||
* D. Hristu-Varsakelis and W. S. Levine (Ed.): [http://www.springer.com/birkhauser/engineering/book/978-0-8176-3239-7 Handbook of Networked and Embedded Control Systems], 2005. ISBN 0-8176-3239-5 | * D. Hristu-Varsakelis and W. S. Levine (Ed.): [http://www.springer.com/birkhauser/engineering/book/978-0-8176-3239-7 Handbook of Networked and Embedded Control Systems], 2005. ISBN 0-8176-3239-5 | ||
** Mainly a collection of articles | ** Mainly a collection of articles | ||
* F.-Y. Wang and D. Liu (Eds): [http://www.amazon.com/Networked-Control-Systems-Theory-Applications/dp/1848002149/ref=sr_1_1?ie=UTF8&s=books&qid=1231946648&sr=8-1 Networked Control Systems: Theory and Applications], 2008. | |||
* Matveev and Savkin, [http://www.springer.com/birkhauser/engineering/book/978-0-8176-4494-9 Estimation and Control over Communication Networks] | |||
* Edited volume by Wireless Network Based Control, Sudip K. Mazumder (ed) | |||
==== Other information resources ==== | ==== Other information resources ==== |
Latest revision as of 16:08, 28 October 2009
Vijay Gupta, Richard M. Murray, Ling Shi and Bruno Sinopoli
This page is intended for use by authors of the book "Networked Sensing, Estimation and Control Systems".
Purpose and Scope
The book is intended for researchers who are interested in the analysis and design of sensing, estimation and control systems in a networked setting. We focus primary on the effects of the network on the stability and performance of the system, including the effects of packet loss, time delay and distributed computation. We have attempted to provide a broad view of the field, in the hopes that the text will be useful to a wide crossection of researchers. Most of the results are presented in the discrete time setting, with references to the literature for the continuous time analogs. We have also attempted to include a fairly extensive review of the current literature at the end of each chapter, with an emphasis on papers that are frequently referenced by others. To keep the material focused, we have chosen to only touch on material on optimization-based control (e.g., receding horizon control) or protocols for distributed systems, although these are often an integral part of complex networked control systems. References to the literature are given for readers interested in these important topics.
Chapter Table
Preface
- Motivation for writing the book
- Intended audience and prerequisites
Notation
- Internal chapter describing notation conventions
I. Introduction to Networked Control Systems
- Motivation and examples
- Big picture for networked control systems
- Control systems (summarize basic framework; refer to standard texts for details)
- Communication systems
- Channel models
- Hardware protocols: 802.11, Zigbee, Wireless HART, SPA100, CANbus, FieldBus, ...
- Software protocols: TCP, UDP, CSMACA (introduce basic protocols and indicate features that will come up later)
- Information patterns
- Talk about distributed information: centralized versus decentralized, distributed
- Summary of the development of NCS
II. State Estimation and Sensor Fusion
|
References
|
III. Information Theory
|
References
|
IV. Markovian Jump Linear Systems
|
References
|
V. Rate-Limited Estimation and Control
|
References
|
VI. Packet-Based Estimation and Control (focus on single sensor)
|
References
Examples
|
VII. Information Flow on Graphs
|
References
Examples:
|
VIII. Distributed Estimation
|
References
Examples
|
IX. Distributed Control
|
References
Examples
|
X. Cooperative Control (application chapter)
|
References
Examples
|
XI. Efficient Computation and Communications (application chapter)
|
Examples
References
|
XII. Implementation (application chapter)
- Robustness (byzantine)
- Synchronization (Lamport)
XIII. Sensor Networks (application chapter)
|
References
Examples
|
XIII. Future Directions and Open Problems
- Robustness (byzantine)
- Design of networks (utility-based theory, Low/Kelly)
Additional notes
Pasadena, 27 Jun 08 (RMM, LS, BS)
Writing plan (not good, OK, very good)
- Updated 19 Dec 08 (RM, LS)
- RM: 3Q08,
4Q08,1Q09,2Q09, 2009-10 - BS:
3Q08,4Q08, 1Q09, 2Q09, 2009-10 - LS:
3Q08, 4Q08,1Q09, 2Q09, 3Q09, 2009-10 - VG: 3Q08, 4Q08
Hong Kong, 19 Dec 08 (RMM + LS)
- Do we want to say something about bandwidth allocation in Alice as an example? Where does it fit? Could be a running example or perhaps go in one of the application chapters?
- Ling out on travel through 27 Jan; could do a phone call after that
Related Information
Other books
- Bullo, Cortes, Martinez: book on cooperative control, but with a very different emphasis than Reza's proposed book. An online copy of the book is available at http://coordinationbook.info.
- Mesbahi and Egerstedt: graph theoretic methods for multi-agent coordination.
- Olfati-Saber: Networked Multi-Agent Systems: Distributed Algorithms for Coordination and Information Fusion
- D. Hristu-Varsakelis and W. S. Levine (Ed.): Handbook of Networked and Embedded Control Systems, 2005. ISBN 0-8176-3239-5
- Mainly a collection of articles
- F.-Y. Wang and D. Liu (Eds): Networked Control Systems: Theory and Applications, 2008.
- Matveev and Savkin, Estimation and Control over Communication Networks
- Edited volume by Wireless Network Based Control, Sudip K. Mazumder (ed)
Other information resources
Upcoming events
Upcoming courses
- Apr 09: EECI Networked Control Systems course (Richard, Vijay)
- Fall 2009: NCS at HKUST (Ling)
- Spring 2010: NCS at CMU (Bruno)
Author meetings
- 25 Nov 08: Richard and Bruno in Pasadena
- 8-10 Dec 08: Bruno and Vijay at CDC
- 15 Dec 08: Richard and Ling in Hong Kong + Vietnam
- 13-19 Apr 09: HSCC, CPS week in San Francisco
- 11-17 Jun 09: Ling in Pasadena (commencement on 12 Jun)
- 27-29 Aug 09: Asian Control Conference (ASCC) in Hong Kong [Ling, Bruno, Richard]