Practical Distributed Control Synthesis

Classic distributed control problems have an interesting dichotomy: they are either trivial or undecidable. If we allow the controllers to fully synchronize, then synthesis is trivial. In this case, controllers can effectively act as a single controller with complete information, resulting in a trivial control problem. But when we eliminate communication and restrict the supervisors to locally available information, the problem becomes undecidable. In this paper we argue in favor of a middle way. Communication is, in most applications, expensive, and should hence be minimized. We therefore study a solution that tries to communicate only scarcely and, while allowing communication in order to make joint decision, favors local decisions over joint decisions that require communication.Comment: In Proceedings INFINITY 2011, arXiv:1111.267

Distributed control in virtualized networks

The increasing number of the Internet connected devices requires novel solutions to control the next generation network resources. The cooperation between the Software Defined Network (SDN) and the Network Function Virtualization (NFV) seems to be a promising technology paradigm. The bottleneck of current SDN/NFV implementations is the use of a centralized controller. In this paper, different scenarios to identify the pro and cons of a distributed control-plane were investigated. We implemented a prototypal framework to benchmark different centralized and distributed approaches. The test results have been critically analyzed and related considerations and recommendations have been reported. The outcome of our research influenced the control plane design of the following European R&D projects: PLATINO, FI-WARE and T-NOVA

Distributed Control of Positive Systems

A system is called positive if the set of non-negative states is left invariant by the dynamics. Stability analysis and controller optimization are greatly simplified for such systems. For example, linear Lyapunov functions and storage functions can be used instead of quadratic ones. This paper shows how such methods can be used for synthesis of distributed controllers. It also shows that stability and performance of such control systems can be verified with a complexity that scales linearly with the number of interconnections. Several results regarding scalable synthesis and verfication are derived, including a new stronger version of the Kalman-Yakubovich-Popov lemma for positive systems. Some main results are stated for frequency domain models using the notion of positively dominated system. The analysis is illustrated with applications to transportation networks, vehicle formations and power systems

Information embedding meets distributed control

We consider the problem of information embedding where the encoder modifies a white Gaussian host signal in a power-constrained manner to encode the message, and the decoder recovers both the embedded message and the modified host signal. This extends the recent work of Sumszyk and Steinberg to the continuous-alphabet Gaussian setting. We show that a dirty-paper-coding based strategy achieves the optimal rate for perfect recovery of the modified host and the message. We also provide bounds for the extension wherein the modified host signal is recovered only to within a specified distortion. When specialized to the zero-rate case, our results provide the tightest known lower bounds on the asymptotic costs for the vector version of a famous open problem in distributed control -- the Witsenhausen counterexample. Using this bound, we characterize the asymptotically optimal costs for the vector Witsenhausen problem numerically to within a factor of 1.3 for all problem parameters, improving on the earlier best known bound of 2.Comment: 19 pages, 7 figures. Presented at ITW'10. Submitted to IEEE Transactions on Information Theor

Distributed control design for underwater vehicles

The vast majority of control applications are based on non-interacting decentralized control designs. Because of their single-loop structure, these controllers cannot suppress interactions of the system. It would be useful to tackle the undesirable effects of the interactions at the design stage. A novel model predictive control scheme based on Nash optimality is presented to achieve this goal. In this algorithm, the control problem is decomposed into that of several small-coupled mixed integer optimisation problems. The relevant computational convergence, closed-loop performance and the effect of communication failures on the closed-loop behaviour are analysed. Simulation results are presented to illustrate the effectiveness and practicality of the proposed control algorithm

Distributed Control with Low-Rank Coordination

A common approach to distributed control design is to impose sparsity constraints on the controller structure. Such constraints, however, may greatly complicate the control design procedure. This paper puts forward an alternative structure, which is not sparse yet might nevertheless be well suited for distributed control purposes. The structure appears as the optimal solution to a class of coordination problems arising in multi-agent applications. The controller comprises a diagonal (decentralized) part, complemented by a rank-one coordination term. Although this term relies on information about all subsystems, its implementation only requires a simple averaging operation

Distributed Control by Lagrangian Steepest Descent

Often adaptive, distributed control can be viewed as an iterated game between independent players. The coupling between the players' mixed strategies, arising as the system evolves from one instant to the next, is determined by the system designer. Information theory tells us that the most likely joint strategy of the players, given a value of the expectation of the overall control objective function, is the minimizer of a Lagrangian function of the joint strategy. So the goal of the system designer is to speed evolution of the joint strategy to that Lagrangian minimizing point, lower the expectated value of the control objective function, and repeat. Here we elaborate the theory of algorithms that do this using local descent procedures, and that thereby achieve efficient, adaptive, distributed control.Comment: 8 page

Error Correcting Codes for Distributed Control

The problem of stabilizing an unstable plant over a noisy communication link is an increasingly important one that arises in applications of networked control systems. Although the work of Schulman and Sahai over the past two decades, and their development of the notions of "tree codes"\phantom{} and "anytime capacity", provides the theoretical framework for studying such problems, there has been scant practical progress in this area because explicit constructions of tree codes with efficient encoding and decoding did not exist. To stabilize an unstable plant driven by bounded noise over a noisy channel one needs real-time encoding and real-time decoding and a reliability which increases exponentially with decoding delay, which is what tree codes guarantee. We prove that linear tree codes occur with high probability and, for erasure channels, give an explicit construction with an expected decoding complexity that is constant per time instant. We give novel sufficient conditions on the rate and reliability required of the tree codes to stabilize vector plants and argue that they are asymptotically tight. This work takes an important step towards controlling plants over noisy channels, and we demonstrate the efficacy of the method through several examples.Comment: 39 page

Analisa Dcs (Distributed Control System) pada Proses Polimerisasi

With the growing technology in industrial markets today, many factories require DCS (Distributed Control System) to control the process equipment at the plant. DCS serves to read the response quickly on factory equipment that has been installed with the sensor. This paper will analyze the use of DCS in polymerization process at PT INDORAMA SYNTHETICS factory located in Jatiluhur - Purwakarta, West Java. In PT INDORAMA SYNTHETICS polymerization process using DCS CENTUM 3000 which can control and monitor every machine connected with DCS. With the use of DCS, PT.INDORAMA SYNTHETICS can control the flow of PTA tanks and EG tanks that produce a flow output of 10423 kg / h

Distributed control for COFS 1

An overview is given of the work being done at NASA LaRC on developing the Control of Flexible Structures (COFS) 1 Flight Experiment Baseline Control Law. This control law currently evolving to a generic control system software package designed to supply many, but not all, guest investigators. A system simulator is also described. It is currently being developed for COFS-1 and will be used to develop the Baseline Control Law and to evaluate guest investigator control schemes. It will be available for use whether or not control schemes fall into the category of the Baseline Control Law. First, the hardware configuration for control experiments is described. This is followed by a description of the simulation software. Open-loop sinusoid excitation time histories are next presented both with and without a local controller for the Linear DC Motor (LDCM) actuators currently planned for the flight. The generic control law follows and algorithm processing requirements are cited for a nominal case of interest. Finally, a closed-loop simulation study is presented, and the state of the work is summarized in the concluding remarks