Self-organizing control of networked systems

Rene Schuh

Cite this publication as

Rene Schuh, Self-organizing control of networked systems (2017), Logos Verlag, Berlin, ISBN: 9783832592943

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Descripción / Abstract

This thesis presents a novel distributed control paradigm for networked control
systems in which the local control units of the subsystems exchange information,
whenever this is necessary to fulfill an overall control aim. The local control units act in a self-organized way, which means that they adapt their communication structure depending on the current situation of the subsystems based on locally available information only.

A new controller structure is proposed. The local control units are divided into three components fulfilling universal tasks to generate a situation-dependent communication structure: The feedback unit performs a local feedback by using local measurements to fulfill basic performance requirements. The observation unit detects the current situation of the subsystem by evaluating locally available information. The decision unit decides about the transmission of information from the corresponding subsystem to other local control units.

Two self-organizing controllers for physically interconnected systems in which
the local control units adapt the communication among each other depending on the current disturbances are introduced. Furthermore, three novel self-organizing controllers for synchronizing multi-agent systems within leader-follower structures by adapting the communication structure to situations like set-point changes, disturbances and communication faults are proposed. The concepts are applied in order to control a water supply system and a robot formation.

Índice

  • BEGINN
  • 1 Introduction to self-organizing control of networked systems
  • 2 Preliminaries
  • 3 Modeling and control of physically interconnected systems
  • 4 Disturbance attenuation by compensating physical couplings
  • 5 Mimicry of a centralized controller
  • 6 Comparison of the control concepts for physically interconnected systems
  • 7 Modeling and control of multi-agent systems
  • 8 Performance improvement by requesting additional information
  • 9 Disturbance attenuation by communication interruption
  • 10 Preservation of the performance by local reconfiguration of the faulty communication structure
  • 11 Comparison of the control concepts for multi-agent systems
  • 12 Summary and comparison of the developed control concepts
  • 13 Outlook
  • Bibliography
  • A Proofs
  • B Further information on the application examples
  • C List of symbols

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