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.
- Instructor: Richard M. Murray
- Lectures: MWF 2-3 pm, 125 Steele
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Course Schedule
| Week |
Date |
Topic |
Reading
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| 1
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Introduction to Networked Control Systems (R. Murray)
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| 27 Mar* (M)
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No class
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| 29 Mar (W)
|
Course overview, applications and administration
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| 31 Mar (F)
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Case study: Alice
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Cremean et al, 2005
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| 2
|
Networked embedded systems programming (R. Murray, L. Cremean?)
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| 3 Apr (M)
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Message transfer systems: spread
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| 5 Apr (W)
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Multi-threaded control systems: pthreads
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| 7Apr (F)
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Alice: adrive, trajFollower
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| 3
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Real-time trajectory generation and receding horizon control (M. Flores?)
|
| 10 Apr (M)
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Real-time trajectory generation
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| 12 Apr (W)
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Receding horizon control
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| 14 Apr (F)
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Alice: plannerModule
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| 4
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State estimation (TBD)
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| 17 Apr (M)
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Kalman filtering
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| 19 Apr (W)
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Moving horizon estimation
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| 21 Apr* (F)
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Alice: astate
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| 5
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Packet-based estimation, I (B. Sinopoli?)
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| 24 Apr* (M)
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| 26 Apr* (W)
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| 28 Apr* (F)
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| 6
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Packet-based estimation, II (L. Shi?)
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| 1 May* (M)
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| 3 May (W)
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| 5 May (F)
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| 7
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Distributed estimation and control (V. Gupta?)
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| 8 May* (M)
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| 10 May* (W)
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| 12 May (F)
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| 8
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Cooperative control of multi-agent systems (Z. Jin?)
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| 15 May (M)
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| 17 May* (W)
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| 19 May (F)
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| 9
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Project Presentations (All)
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| 22 May (M)
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No class
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| 24 May (W)
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Project presentations
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| 26 May (F)
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Project presentations
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