A networked control system consists of a set of dynamical units that interact over a signal exchange network for its coordinated operation and behavior. Such systems have found many applications in diverse areas of science and engineering, including multiple space, air, land, and underwater vehicles, energy and power systems, physiology, and medicine.
COURSE WEBSITE
This page: http://users.ece.gatech.edu/~magnus/ece8823.html
WORKLOAD
Your responsibilities in this class will fall into two main categories:
1. The homework sets (one problem set roughly every third week) = 40%. The credit will be divided between programming assignments and theoretical exercises.
2. The midterm and final exams = 20% + 40% = 60% They will cover all the material presented in the class. They will be closed-book, closed-note, closed-calculator exams.
PROGRAMMING
The objective with the programming assignments is to see how to bridge the gap between what's done in class and how to actually apply it. (The actual programming involved will be very minor.) The assignments will be Matlab-based.
READING
The official textbook is Mesbahi and Egerstedt, Graph-Based Control of Multi-Agent Networks, Princeton University Press, 2009, but since this book will appear in print sometime during the fall semester, it will be provided as a pdf to all participants in the class. The textbook will also be supplemented with some suggested reading material, e.g.,
Graph Theory, by R. Diestel, Springer, 2000.
Algebraic Graph Theory, by C. Godsil and G. Royle, Springer, 2001.
Networked Embedded Sensing and Control, edited by P. J. Antsaklis and P. Tabuada, Springer 2006.
TIME AND PLACE
The lectures will be held at 12-1:30 Tuesdays and Thursdays in Van Leer C240.
PREREQUISITS (There aren't any formal prerequsits but some knowledge of linear algebra, linear control systems, and differential equations will certainly make your life a little easier. For example, ECE6550 would be the perfect background for this course.)
HONOR CODE
Altough you are encouraged to work together to learn the course material, the exams and homeworks are expected to be completed individually. All conduct in this course will be governed by the Georgia Tech honor code.
SCHEDULE
| Date | Lecture subject | Homework |
| Aug. 18 | What are networked control systems? | |
| Aug. 20 | Rendezvous: A canonical problem | |
| GRAPH-BASED NETWORK MODELS | ||
| Aug. 25 | Proximity graphs | |
| Aug. 27 | Algebraic and spectral graph theory | |
| Sept. 1 | Connectivity: Cheeger's inequality | |
| THE AGREEMENT PROTOCOL: STATIC CASE | ||
| Sept. 3 | Reaching decentralized agreements | |
| Sept. 8 | Consensus equation: Static case | HW1 due (graph theory) |
| Sept. 10 | Distributed estimation | |
| THE AGREEMENT PROTOCOL: DYNAMIC CASE | ||
| Sept. 15 | Switched networks | |
| Sept. 17 | Lyapunov-based stability | |
| Sept. 22 | Consensus equation: Dynamic case | HW2 due (static consensus) |
| Sept. 24 | Biological models: Flocking and swarming | |
| Sept. 29 | Review | |
| Oct. 1 | MIDTERM | |
| Oct. 6 | Fall recess - NO CLASS | |
| Oct. 8 | Alignments and Kuramoto's coupled oscillators | |
| MULTI-AGENT ROBOTICS | ||
| Oct. 13 | Mobile robots: Disk graphs | HW3 due (dynamic consensus) |
| Oct. 15 | Connectivity preserving control | |
| Oct. 20 | Linear formation control | |
| Oct. 22 | Distance-based formations | |
| Oct. 27 | Graph-rigidity and persistence | |
| Oct. 29 | Leader-follower networks | |
| Nov. 3 | Network controllability | |
| MOBILE SENSOR AND COMMUNICATION NETWORKS | ||
| Nov. 5 | Sensor networks: Coverage control | HW4 due (formation control) |
| Nov. 10 | Gabriel and Voronoi graphs | |
| Nov. 12 | Graph grammars | |
| Nov. 17 | LANdroids: Communication networks | |
| Nov. 19 | Communication models | |
| Nov. 24 | Random graphs | |
| Nov. 26 | Thanksgiving - NO CLASS | |
| Dec. 1 | At the research frontier | HW5 due (sensor networks and LANdroids) |
| Dec. 3 | Review | |
| T.B.D. | FINAL EXAM |