CDS 270-2, Spring 2006

Networked Control Systems

Spring 2006

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.

Instructor: Richard M. Murray Co-instructors: Tamas Keviczky (UMN), Yasi Mostofi, Henrik Sandberg, Bruno Sinopoli (Stanford) Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos Lectures: MWF 2-3 pm, 125 Steele

Course mailing list Information for lecturers

Announcements [#archive]</nowiki] * 27 Mar 06: Welcome to CDS 270-2. Please make sure to sign up for the [http://listserv.cds.caltech.edu/mailman/listinfo/cds270 course mailing list] == Course Schedule == {| border=1 |- | Week || Date || Topic || Reading |- | align=center rowspan=5 | 1 | colspan=3 | '''Introduction to Networked Control Systems (R. Murray)''' |- | 27 Mar (M) | Course overview, applications and administration | [[Media:cds270-2_syllabus_sp06.pdf|Syllabus]], [[NCS: Introduction]] |- | 29 Mar (W) | Case study: Alice | [[Alice: Introduction]], [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) | Message transfer systems: spread | [[NCS: Message Transfer Systems]] |- | align=center rowspan=3 | 2 | 3 Apr (M) | Multi-threaded control systems: pthreads | [[NCS: Multi-Threaded Control Systems]] |- | 5 Apr (W) | Alice: adrive, trajFollower | [[Alice: Vehicle Control]] |- | 7 Apr* (F) | No class | |- | align=center rowspan=4 | 3 | colspan=3 | '''Real-time trajectory generation and receding horizon control (R. Murray)''' {{MWFrow| week=3| mondate=10 Apr|montopic=Real-time trajectory generation|monreading=| weddate=12 Apr*|wedtopic=Receding horizon control (T. Keviczky?)|wedreading=| fridate=14 Apr|fritopic=Alice: plannerModule|frireading=| }} |- | align=center rowspan=4 | 4 | colspan=3 | '''State estimation (H. Sandberg)''' {{MWFrow| week=4| mondate=17 Apr|montopic=Kalman filtering|monreading=| weddate=19 Apr|wedtopic=Moving horizon estimation|wedreading=| fridate=21 Apr*|fritopic=Alice: road estimation (Lars)|frireading=| }} |- | align=center rowspan=4 | 5 | colspan=3 | '''Packet-based estimation and control, I (B. Sinopoli)''' {{MWFrow| week=5| mondate=24 Apr*|montopic=|monreading=| weddate=26 Apr*|wedtopic=|wedreading=| fridate=28 Apr*|fritopic=|frireading=| }} |- | align=center rowspan=4 | 6 | colspan=3 | '''Packet-based estimation and control, II (L. Shi?, Y. Mostofi)''' {{MWFrow| week=6| mondate=1 May*|montopic=|monreading=| weddate=3 May|wedtopic=|wedreading=| fridate=5 May|fritopic=|frireading=| }} |- | align=center rowspan=4 | 7 | colspan=3 | '''Distributed estimation and control (V. Gupta)''' {{MWFrow| week=7| mondate=8 May*|montopic=|monreading=| weddate=10 May*|wedtopic=|wedreading=| fridate=12 May |fritopic=|frireading=| }} |- | align=center rowspan=4 | 8 | colspan=3 | '''Cooperative control of multi-agent systems (Z. Jin?, T. Keviczky)''' {{MWFrow| week=8| mondate=15 May|montopic=|monreading=| weddate=17 May*|wedtopic=|wedreading=| fridate=19 May|fritopic=|frireading=| }} |- | 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 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]]''' * '''[[RoboFlag]]''' == Additional Information == * [http://www.isd.mel.nist.gov/projects/rcslib/ NIST Real-Time Control Systems Library] <span id=archive />'''Announcements Archive''' [[Category:Courses]] [[Category:2005-06 Courses]]