Lecture

Time-Varying Consensus Algorithms

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In course

ME-427: Networked control systems

This course offers an introduction to control systems using communication networks for interfacing sensors, actuators, controllers, and processes. Challenges due to network non-idealities and opportunities offered by communication will be analyzed. ...

Description

This lecture covers time-varying consensus algorithms in networked control systems, discussing the impact of transmission delays, quantization, and changes in the graph topology. The instructor presents examples of round-robin communication protocols and explores the implications of sporadic packet drops. The lecture also delves into the theoretical and experimental evidence supporting the robustness of consensus algorithms. Additionally, the Laplacian matrix and consensus in continuous time are explained, highlighting the importance of globally reachable nodes and the achievement of average consensus.

Instructor

Giancarlo Ferrari Trecate

Expertise Automatic control, Dependable control, Neural-network Control, Machine learning, Microgrids, Hybrid systems Mission See the webpage of the DECODE (Dependable Control and Decision) group. Teaching & PhD PhD Students Laura Meroi, Julien Pallage, Nicolas Léo Pierre Kirsch, Simone Baratto, Daniele Martinelli, Riccardo Cescon, Jakob Nylöf, Sabri El Amrani Past EPFL PhD Students Pulkit Nahata, Mustafa Sahin Turan, Baiwei Guo, Jean-Sébastien Brouillon, Clara Galimberti, Andrea Martin, Muhammad Zakwan,

Official source

Related concepts (32)

Networked control system

A networked control system (NCS) is a control system wherein the control loops are closed through a communication network. The defining feature of an NCS is that control and feedback signals are exchanged among the system's components in the form of information packages through a network. The functionality of a typical NCS is established by the use of four basic elements: Sensors, to acquire information, Controllers, to provide decision and commands, Actuators, to perform the control commands and Communication network, to enable exchange of information.

Industrial control system

An industrial control system (ICS) is an electronic control system and associated instrumentation used for industrial process control. Control systems can range in size from a few modular panel-mounted controllers to large interconnected and interactive distributed control systems (DCSs) with many thousands of field connections. Control systems receive data from remote sensors measuring process variables (PVs), compare the collected data with desired setpoints (SPs), and derive command functions that are used to control a process through the final control elements (FCEs), such as control valves.

Topological graph theory

In mathematics, topological graph theory is a branch of graph theory. It studies the embedding of graphs in surfaces, spatial embeddings of graphs, and graphs as topological spaces. It also studies immersions of graphs. Embedding a graph in a surface means that we want to draw the graph on a surface, a sphere for example, without two edges intersecting. A basic embedding problem often presented as a mathematical puzzle is the three utilities problem.

Graph theory

In mathematics, graph theory is the study of graphs, which are mathematical structures used to model pairwise relations between objects. A graph in this context is made up of vertices (also called nodes or points) which are connected by edges (also called links or lines). A distinction is made between undirected graphs, where edges link two vertices symmetrically, and directed graphs, where edges link two vertices asymmetrically. Graphs are one of the principal objects of study in discrete mathematics.

Control system

A control system manages, commands, directs, or regulates the behavior of other devices or systems using control loops. It can range from a single home heating controller using a thermostat controlling a domestic boiler to large industrial control systems which are used for controlling processes or machines. The control systems are designed via control engineering process. For continuously modulated control, a feedback controller is used to automatically control a process or operation.

Related lectures (46)

Distributed Computation: Consensus Algorithms in Networked Control Systems

Explores consensus algorithms in networked control systems, covering topics like Metropolis-Hasting models and distributed computation of Least-Squares regression.

Networked Control Systems: Convergence Rate and Digraphs

Explores convergence rate in networked control systems and consensus in digraphs, emphasizing the challenges of computing Pess(A) and weight assignment.

Consensus Algorithms: Weight Assignment and Applications

Explores the design of graph weights for consensus and applications in sensor networks.

Quantization in Networked Control Systems

Delves into the impact of quantization on networked control systems, exploring stability, performance, and design trade-offs.

Networked Control Systems: Properties and Connectivity