On the theory of differential pursuit games in distributed parameter systems

This paper is devoted to a study of controlled pursuit-evading games in systems of parabolic type. The corresponding differential equations have variable coefficients and do not contain mixed derivatives. Our main technical tool is the finite difference method. Sufficient conditions for successful pursuit completion are obtained.     

Method for lexicographic suboptimal control of the evader in a conflict problem

An approach is considered that allows generating a suboptimal strategy for the evader in a nonlinear feedback position control problem that can be implemented in real time. The evader does not know exactly what actions the pursuer will take up, and the evader’s strategy is selected from the known functionality of both players and worse possible actions of the pursuer. __________ Translated from Kibernetika i Sistemnyi Analiz, No. 3, pp. 156–167, May–June 2006.     

Robust control and tuning problem for distributed parameter systems

In this paper robust multivariable controllers for parabolic distributed parameter systems will be discussed. The purpose of a robust controller is to achieve output regulation, disturbance rejection and insensitivity against some perturbations in the system's and controller's parameters. The robust controller consists of two parts: the unstable servo-compensator and the stabilizing compensator. The servo-compensator will be fixed on the basis of the spectrum of the reference and disturbance signals. The purpose of the stabilizing compensator is to stabilize the extended unstable system that consists of the stable plant and the servo-compensator. In this paper it is proved that the stabilizing compensator can be decomposed into a scalar gain and a matrix gain. A simple sufficient condition for finding stabilizing matrix gains will be given and a straightforward way to compute the gains will be presented. The proposed method is practical in the sense that the dimension of the controller is finite and small, output feedback is used and tuning the controller can be done with the information that can be measured from the stable plant with input-output measurements. To the authors’ knowledge, the main results are new even for finite-dimensional systems.     

Sufficient condition of completion of a pursuit in a nonlinear differential game

The sufficient condition of pursuit completion is proved for a nonlinear differential game on a smooth manifold with integral constraints on the players’ controls. Translated from Kibernetika i Sistemnyi Analiz, No. 6, pp. 134–140, November–December, 1999.     

Regional quadratic control problem for distributed bilinear systems with bounded controls

The aim of this paper is to study regional quadratic control problem for a distributed bilinear system evolving in a spatial domain Ω. The question is to obtain a bounded feedback control that drives such a system from an initial state to a desired one in finite time, only on a subregion ω of Ω, and minimises a quadratic functional cost. Our purpose is to prove that an optimal control exists, and characterised as solution of an optimality system. The approach is successfully illustrated by simulations.     

Regional constrained control problem for a class of semilinear distributed systems

The aim of this paper is to investigate a regional constrained optimal control problem for a class of semilinear distributed systems, which are linear in the control but nonlinear in the state. For a quadratic cost functional and a closed convex set of admissible controls, the existence of an optimal control is proven, and then this is characterized for three cases of constraints. A useful algorithm is developed, and the approach is illustrated through simulations for a heat equation.     

Optimal control of distributed bilinear systems

The optimal control problem for a bilinear distributed parameter system subject to a quadratic cost functional is solved. It is shown that the optimal control is given by a convergent power series in the state with tensor coefficients.     

小型分布式控制系统中共享存储器的使用

介绍在小型分布式控制系统中,使用共享存储器作为主机和通信处理器的接口,以提高系统的实时响应能力。叙述了主机和通信处理器在访问共享存储器时可能发生的冲突的解决方法,以及主机和通信处理器接口协议及其实现方法。     

Pursuit formations with dynamic control gains

The paper presents a coordinated motion control law of multiple autonomous agents based on the pursuit strategy with dynamical gains. In particular, we are interested in the control law with no communication between the agents, that is, the leader's moving velocity is not known by the follower robots. Each follower only utilizes its local measurement of relative position information to keep a desired distance and a desired bearing with its neighbors according to a fixed topology. The paper proposes a modified follower's control law, in which each follower pursues its neighbor along the line of sight rotated by a constant offset angle with a dynamic control gain. The offset angle is designed to attain the specific bearing and the dynamic control gain is introduced for the purpose of achieving the desired distance to its neighbor. Then, all the agents make the same motion to the leader's in a steady formation. It is shown that, for the case of uniform rectilinear motion, the group of mobile robots converges to the exact formation specified by the offset angles and the distances no matter what the leader's velocity is, whereas for the case of uniform circular motion, the group of agents converges to an approximation of the formation attained in the rectilinear motion case when the leader's turning radius is much greater than the desired distances between neighboring robots. The effectiveness of the proposed technique and the obtained analytical results are demonstrated in simulations. Copyright © 2011 John Wiley & Sons, Ltd.     

The design of distributed control computer systems

The top-down approach in the design of Distributed Control Computer Systems, DCCS, is presented. The starting point of the study is three statements: (i) the design approach should be production process control oriented; (ii) for real time process control applications, computer networks require an efficient communication subsystem, the most important features of which are high reliability and short message transmission times and (iii) recent research has shown that the tools and methodologies used in both computing and control should be complementary to each other in order to solve some of the distributed control computer system/distributed computer control system design problems. The paper contains the design problems of distributed control computer systems, the presentation of the methods and tools for the study and design of the DCCS, the top-down approach in the design of the DCCS, and examples of two design stages.     

Asymptotic sliding mode control approach to adaptive distributed tracking problem for multi-agent nonlinear delayed systems

In this article, a sliding mode coordinated decentralised state-feedback model reference adaptive control is developed for a class of large-scale uncertain multi-agent systems with time-varying delays in the nonlinear interconnections. The design procedure is based on a combination of the model coordination concept and a sliding mode control methodology. Novel decentralised controller parameterisations that are robust to unknown information exchange delays and to external disturbances with unknown bounds are proposed. Two different controllers are designed: one with discontinuous and one with continuous control action, respectively.     

多智能体系统动态协调与分布式控制设计

多智能体系统的主要研究目的在于探索由个体之间的相互作用所产生的群体协调现象的内在机制和原理,而控制或反馈在多智能体协调运动中起着至关重要的作用．本文集中讨论了多智能体协调研究中的几个新兴的基本问题,包括输出调节、集合协调和覆盖．文中着重介绍了分布式估计和内模原理两种多智能体系统分布式输出调节方法及相关的研究进展：关于多智能体系统的目标集合协调,本文从集合聚集和集合优化两方面做了详尽论述：多智能体覆盖有多种分类方式,从覆盖对象的特征出发可将其划分为区域覆盖、边界覆盖和动态目标覆盖3种类型,并对它们的研究背景和最新成果予以介绍．另外文章还对多智能体系统协调控制的理论和应用研究进行了展望．     

Verification of distributed control systems in intelligent manufacturing

This paper presents an application of formal methods for validation of flexible manufacturing systems controlled by distributed controllers. A software tool verification environment for distributed applications (VEDA) is developed for modeling and verification of distributed control systems. The tool provides an integrated environment for formal, model-based verification of the execution control of function blocks following the new international standard IEC61499. The modeling is performed in a closed-loop way using manually developed models of plants and automatically generated models of controllers.     

Asymptotic methods in the optimal control of distributed systems

A short review of the various problems which arise in connection with the use of asymptotic methods in the optimal control of distributed systems is presented. We consider the cases when the asymptotic analysis comes from the state equation, or from the cost function, or both and also when the state equation is defined in perturbed domains.     

Dynamic hierarchical control for distributed problem solving

Distributed problem solving (DPS) has become one of the central topics in AI. Much research has been concerned with finding an appropriate distributed control regime. We propose the concept of dynamic, hierarchical control (DHC) for distributed problem solving.

In many domains, DPS has a natural hierarchy or a subproblem hierarchy can be imposed by utilizing appropriate decomposition techniques. DHC aims at exploiting the power inherent in the hierarchical approach. It also enables the control of the problem solving process to fit the structure of a domain. This results in well-coordinated cooperation and coherent negotiation among distributed controllers.

We have used the DHC to perform plant combine production planning (PCPP). This task involves the activity of a network of production units, each with possibly different characteristics, collaborating to produce various items under dynamically changing conditions. We also describe the general structure of a single controller which adopts a blackboard and a knowledge source (KS) scheduling mechanism to carry out dynamic process execution.

The paper describes the results of our first solution to this problem. Finally, we discuss on-going research that aims at handling additional problems.     

Divergence control for distributed database systems

This paper presents distributed divergence control algorithms for epsilon serializability for both homogeneous and heterogeneous distributed databases. Epsilon serializability allows for more concurrency by permitting non-serializable interleavings of database operations among epsilon transactions. We first present a strict 2-phase locking divergence control algorithm and an optimistic divergence control algorithm for a homogeneous distributed database system, where the local orderings of all the sub-transactions of a distributed epsilon transaction are the same. In such an environment, the total inconsistency of a distributed epsilon transaction is simply the sum of those of all its sub-transactions. We then describe a divergence control algorithm for a heterogeneous distributed database system, where the local orderings of all the sub-transactions of a distributed epsilon transaction may not be the same and the total inconsistency of a distributed epsilon transaction may be greater than the sum of those of all its sub-transactions. As a result, in addition to executing a local divergence control algorithm in each site to maintain the local inconsistency, a global mechanism is needed to take into account the additional inconsistency Recommended by: Meichum Hsu     

Periodic event-triggering in distributed receding horizon control of nonlinear systems

How to efficiently use limited system resources in distributed receding horizon control (DRHC) is an important issue. This paper studies the DRHC problem for a class of dynamically decoupled nonlinear systems under the framework of event-triggering, to efficiently make use of the computation and communication resources. To that end, a distributed periodic event-triggered strategy is designed and a detailed DRHC algorithm is presented. The conditions for ensuring feasibility of the designed algorithm and stability of the closed-loop system are developed, respectively. We show that the closed-loop system is input-to-state stable if the energy bound of the disturbances, the triggering condition and the cooperation matrices fulfill the proposed conditions.     

Optimization of distributed systems with generalized control

The problem of optimizing distributed systems described by integral relationships is considered for the case when the class of permissible controls includes local movable actions. A special definition of distributions permits the original problem to be reduced to some regular problem.