CDS 270-2, Spring 2006: Difference between revisions
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| colspan=3 | '''Real-time trajectory generation and receding horizon control ( | | colspan=3 | '''Real-time trajectory generation and receding horizon control (R. Murray)''' | ||
{{MWFrow| | {{MWFrow| | ||
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| colspan=3 | '''State estimation ( | | colspan=3 | '''State estimation (H. Sandberg)''' | ||
{{MWFrow| | {{MWFrow| | ||
week=4| | week=4| | ||
mondate=17 Apr|montopic=Kalman filtering|monreading=| | mondate=17 Apr|montopic=Kalman filtering|monreading=| | ||
weddate=19 Apr|wedtopic=Moving horizon estimation|wedreading=| | weddate=19 Apr|wedtopic=Moving horizon estimation|wedreading=| | ||
fridate=21 Apr*|fritopic=Alice: astate|frireading=| | fridate=21 Apr*|fritopic=Alice: astate (speaker TBD)|frireading=| | ||
}} | }} | ||
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| align=center rowspan=4 | 5 | | align=center rowspan=4 | 5 | ||
| colspan=3 | '''Packet-based estimation, I (B. Sinopoli | | colspan=3 | '''Packet-based estimation and control, I (B. Sinopoli)''' | ||
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| colspan=3 | '''Packet-based estimation, II (L. Shi?)''' | | colspan=3 | '''Packet-based estimation and control, II (L. Shi?, Y. Mostofi)''' | ||
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week=6| | week=6| | ||
Revision as of 01:17, 23 March 2006
Networked Control Systems
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. A driving example is provided by Alice, an autonomous vehicle that competed in the 2005 DARPA Grand Challenge. Key features of Alice include a highly sensory-driven approach to fuse sensor data into speed maps used by real-time trajectory optimization algorithms, health and contingency management algorithms to manage failures at the component and system level, and a multi-threaded, networked control architecture that enables plug-and-play operations and testing.
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Course Schedule
| Week | Date | Topic | Reading |
| 1 | Introduction to Networked Control Systems (R. Murray) | ||
| 27 Mar (M) | Course overview, applications and administration | ||
| 29 Mar (W) | Case study: Alice | Cremean et al, 2005 | |
| 31 Mar (F) | Message transfer systems: spread | ||
| 2 | Networked embedded systems programming (R. Murray) | ||
| 3 Apr (M) | Multi-threaded control systems: pthreads | ||
| 5 Apr (W) | Alice: adrive, trajFollower | ||
| 7Apr* (F) | No class | ||
| 3 | Real-time trajectory generation and receding horizon control (R. Murray) | ||
| 10 Apr (M) | Real-time trajectory generation | ||
| 12 Apr (W) | Receding horizon control | ||
| 14 Apr (F) | Alice: plannerModule | ||
| 4 | State estimation (H. Sandberg) | ||
| 17 Apr (M) | Kalman filtering | ||
| 19 Apr (W) | Moving horizon estimation | ||
| 21 Apr* (F) | Alice: astate (speaker TBD) | ||
| 5 | Packet-based estimation and control, I (B. Sinopoli) | ||
| 24 Apr* (M) | |||
| 26 Apr* (W) | |||
| 28 Apr* (F) | |||
| 6 | Packet-based estimation and control, II (L. Shi?, Y. Mostofi) | ||
| 1 May* (M) | |||
| 3 May (W) | |||
| 5 May (F) | |||
| 7 | Distributed estimation and control (V. Gupta?) | ||
| 8 May* (M) | |||
| 10 May* (W) | |||
| 12 May (F) | |||
| 8 | Cooperative control of multi-agent systems (Z. Jin?) | ||
| 15 May (M) | |||
| 17 May* (W) | |||
| 19 May (F) | |||
| 9 | Project Presentations (All) | ||
| 22 May (M) | No class | ||
| 24 May (W) | Project presentations | ||
| 26 May (F) | Project presentations | ||
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 implementing a networked control system algorithm. At the present time, two testbeds are available for implementation:
- Alice
- MVWT
