This book presents a unified frequency-domain method for the analysis of distributed control systems. The following important topics are discussed by using the proposed frequency-domain method: (1) Scalable stability criteria of networks of distributed control systems; (2) Effect of heterogeneous delays on the stability of a network of distributed control system; (3) Stability of Internet congestion control algorithms; and (4) Consensus in multi-agent systems. This book is ideal for graduate students in control, networking and robotics, as well as researchers in the fields of control theory and networking who are interested in learning and applying distributed control algorithms or frequency-domain analysis methods.
Autorentext
Yu-Ping Tian is a Professor of Automation at Southeast University. His research interests include analysis and control of communication networks, formation control of robots, chaos control and synchronization, and robust and adaptive control. He won the Guan Zhao Zhi Paper Award at the Chinese Control Conference in 1995 and the Best Theory Paper Award at the 3rd World Congress on Intelligent Control and Automation in 2000. He is the recipient of the Chang Jiang Professorship awarded by the Education Ministry of China and the Distinguished Young Scholar Award of the National Natural Science Foundation of China. He has held visiting positions in Central Queensland University (1998, 2001), University of California at Berkeley (2002), and City University of Hong Kong (2004). Tian received a Bachelors degree from Tsinghua University, a Ph.D. degree from Moscow Power Institute and an Sc.D. degree from Taganrog State Radio-engineering University, Taganrog, Russia, in 1996. All his degrees are in Electrical Engineering.
Klappentext
With the rapid development of micro-sensors, micro-motors, sensor networks and communication networks, spatially distributed control systems have attracted increasing attention. Internet congestion control and the multi-robot coordination control are two typical examples of distributed control systems. In such systems global collective behaviors emerge or global targets are reached through a distributed control strategy. In Frequency-Domain Analysis and Design of Distributed Control Systems, Yu-Ping Tian systematically covers distributed control to help readers solve the effects of delays on stability.
- The first book to introduce frequency-domain methods for the analysis of distributed control systems, covering:
- Scalable stability criteria of networks of distributed control systems
- Effect of heterogeneous delays on the stability of a network of distributed control systems
- Stability of Internet congestion control algorithms
- Consensus in multi-agent systems
- Introduces control design problems related to frequency domain analysis
- PowerPoint slides with book figures available for instructor use
This book is ideal for graduate students in control, networking and robotics. The book is also geared for researchers in the fields of control theory and networking, who are interested in learning and applying distributed control algorithms or frequency-domain analysis methods.
Companion website for the book:
www.wiley.com/go/tian/fda
Inhalt
Preface xi
Glossary of Symbols xiii
1 Introduction 1
1.1 Network-Based Distributed Control System 1
1.2 Graph Theory and Interconnection Topology 4
1.2.1 Basic Definitions 4
1.2.2 Graph Operations 7
1.2.3 Algebraic Graph Theory 10
1.3 Distributed Control Systems 16
1.3.1 End-to-End Congestion Control Systems 16
1.3.2 Consensus-Based Formation Control 22
1.4 Notes and References 25
1.4.1 Graph Theory and Distributed Control Systems 25
1.4.2 Delay in Control and Control by Delay 26
References 26
2 Symmetry, Stability and Scalability 31
2.1 System Model 31
2.1.1 Graph-Based Model of Distributed Control Systems 31
2.1.2 Bipartite Distributed Control Systems 34
2.2 Symmetry in the Frequency Domain 36
2.2.1 Symmetric Systems 36
2.2.2 Symmetry of Bipartite Systems 38
2.3 Stability of Multivariable Systems 39
2.3.1 Poles and Stability 39
2.3.2 Zeros and Pole-Zero Cancelation 41
2.4 Frequency-Domain Criteria of Stability 43
2.4.1 Loop Transformation and Multiplier 44
2.4.2 Multivariable Nyquist Stability Criterion 45
2.4.3 Spectral Radius Theorem and Small-Gain Theorem 50
2.4.4 Positive Realness Theorem 53
2.5 Scalable Stability Criteria 53
2.5.1 Estimation of Spectrum of Complex Matrices 53
2.5.2 Scalable Stability Criteria for Asymmetric Systems 56
2.5.3 Scalable Stability Criteria for Symmetric Systems 60
2.5.4 Robust Stability in Deformity of Symmetry 61
2.6 Notes and References 64
References 65
3 Scalability in the Frequency Domain 67
3.1 How the Scalability Condition is Related with Frequency Responses 67
3.2 Clockwise Property of Parameterized Curves 71
3.3 Scalability of First-Order Systems 76
3.3.1 Continuous-Time System 76
3.3.2 Discrete-Time System 79
3.4 Scalability of Second-Order Systems 85
3.4.1 System of Type I 85
3.4.2 System of Type II 95
3.5 Frequency-Sweeping Condition 103
3.5.1 Stable Quasi-Polynomials 103
3.5.2 Frequency-Sweeping Test 105
3.6 Notes and References 108
References 109
4 Congestion Control: Model and Algorithms 111
4.1 An Introduction to Congestion Control 111
4.1.1 Congestion Collapse 112
4.1.2 Efficiency and Fairness 114
4.1.3 Optimization-Based Resource Allocation 114
4.2 Distributed Congestion Control Algorithms 116
4.2.1 Penalty Function Approach and Primal Algorithm 116
4.2.2 Dual Approach and Dual Algorithm 117
4.2.3 Primal-Dual Algorithm 118
4.2.4 REM: A Second-Order Dual Algorithm 118
4.3 A General Model of Congestion Control Systems 119
4.3.1 Framework of End-to-End Congestion Control under Diverse Round-Trip Delays 119
4.3.2 General Primal-Dual Algorithm 122
4.3.3 Frequency-Domain Symmetry of Congestion Control Systems 124
4.4 Notes and References 126
References 127
5 Congestion Control: Stability and Scalability 129
5.1 Stability of the Primal Algorithm 129
5.1.1 JohariTan Conjecture 129
5.1.2 Scalable Stability Criterion for Discrete-Time Systems 131
5.1.3 Scalable Stability Criterion for Continuous-Time Systems 135
5.2 Stability of REM 138
5.2.1 Scalable Stability Criteria 138
5.2.2 Dual Algorithm: the First-Order Limit Form of REM 145
5.2.3 Design of Parameters of REM 146
5.3 Stability of the Primal-Dual Algorithm 152
5.3.1 Scalable Stability Criteria 152
5.3.2 Proof of the Stability Criteria 161
5.4 Time-Delayed Feedback Control 163
5.4.1 Time-Delayed State as a Reference 163
5.4.2 TDFC for Stabilization of an Unknown Equilibrium 165
5.4.3 Limitation of TDFC in Stabilization 166
5.5 Stabilization of Congest...