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Performance and controller design for the synchronization of multi-agent systems
The analysis and design of control strategies for the synchronization of subsystems that are coupled over communication networks is the topic of this thesis. Typically, synchronization problems deal with the asymptotic behavior of networked multi-agent systems, where it is required that the states of the subsystems follow a common trajectory as the time approaches infinity. In contrast, this thesis focuses on strategies that do not only fulfill the requirement on asymptotic synchronization but also requirements on the transient behavior of networked multi-agent systems. Motivated by a growing number of applications where subsystems exchange their information by means of modern communication systems, the limits on the achievable performance of synchronization are studied for large teams of autonomous subsystems. In particular, control strategies that do not require any centralized coordination of the subsystems are developed.
Diagnosis and Fault-Tolerant Control
Fault-tolerant control aims at a gradual shutdown response in automated systems when faults occur. It satisfies the industrial demand for enhanced availability and safety, in contrast to traditional reactions to faults, which bring about sudden shutdowns and loss of availability. The book presents effective model-based analysis and design methods for fault diagnosis and fault-tolerant control. Architectural and structural models are used to analyse the propagation of the fault through the process, to test the fault detectability and to find the redundancies in the process that can be used to ensure fault tolerance. It also introduces design methods suitable for diagnostic systems and fault-t...
Autonomous and cooperative control of networked discrete-event systems
This thesis considers networked discrete-event systems. The overall system is a network of subsystems, each of which includes a technical process modelled by an I/O automaton together with a controller and a network unit. These subsystems are interconnected by physical couplings and digital communication links. An important characteristic of the networked discreteevent systems is the partial autonomy of the subsystems, which is reflected by the fact that each subsystem solves its local tasks individually. Cooperation among the subsystems becomes necessary if physical couplings or control specifications have to be resolved by two or more subsystems in order to satisfy the local tasks. Hence, ...
Cooperative Event-Based Control of Mobile Agents
This thesis proposes a method that plans trajectories for autonomous agents to enable them to fulfil different tasks while ensuring the collision-free movement. The agents are locally controlled and connected over an unreliable communication network that may induce packet losses and transmission delays. Further sensors e.g. for a distance measurement are not used and communication should only be invoked if it is necessary to avoid a collision. The basic problem occurs for two agents. The first agent can change its trajectory at any time without regard to the second agent, which has to ensure the collision avoidance. To this aim it adapts its trajectory based only on local data and communicat...
Cooperative Control of Networked Vehicles
This thesis concerns the cooperative control of networked vehicles. Autonomous driving is a topic that is currently being discussed with great interest from researchers, vehicle manufacturers and the corresponding media. Future autonomous vehicles should bring the passengers to their desired destination while improving both safety and efficiency compared to current human-driven vehicles. The inherent problem of all vehicle coordination tasks is to guarantee collision avoidance in every situation. To this end, autonomous vehicles have to share information with each other in order to perform traffic manoeuvres that require the cooperation of multiple vehicles. The fundamental problem of vehicl...
Plug-and-play control of interconnected systems
In the networked control of interconnected systems, the communication network is primarily used for the exchange of measurements amongst the control stations. Plug-and-play control extends the usage of this network towards the exchange of models with the aim to automatically design control stations at runtime. Therefore, every subsystem is equipped with a design agent that initially knows only the model of its subsystem. To design a control station by a design agent, first, a suitable model of the subsystem that interacts with other subsystems has to be set up. Second, local design conditions have to be found that guarantee the adherence of the global control aim. If the designed control sta...
Integrative Production Technology
This contributed volume contains the research results of the Cluster of Excellence “Integrative Production Technology for High-Wage Countries”, funded by the German Research Society (DFG). The approach to the topic is genuinely interdisciplinary, covering insights from fields such as engineering, material sciences, economics and social sciences. The book contains coherent deterministic models for integrative product creation chains as well as harmonized cybernetic models of production systems. The content is structured into five sections: Integrative Production Technology, Individualized Production, Virtual Production Systems, Integrated Technologies, Self-Optimizing Production Systems and Collaboration Productivity.The target audience primarily comprises research experts and practitioners in the field of production engineering, but the book may also be beneficial for graduate students.
Fault-Tolerant Control of Nondeterministic Input/Output Automata
This book presents novel methods of fault-tolerant control theory in a discrete-event system framework. Nondeterministic input/output automata are used to model nominal and faulty technological systems. The main contributions are the following: Control design method for discrete-event systems Fault modeling technique for actuator, sensor and system internal faults and failures Off-line and on-line control reconfiguration based on trajectory re-planning and input/output adaptation. Two small size running examples are used to explain the developed methods. Experiments on a manufacturing cell demonstrate the application of these methods in a realistic environment. The state of the art is provided on methods for modeling, supervisory control and fault-tolerant control of discrete-event systems.
Control Theory of Digitally Networked Dynamic Systems
The book gives an introduction to networked control systems and describes new modeling paradigms, analysis methods for event-driven, digitally networked systems, and design methods for distributed estimation and control. Networked model predictive control is developed as a means to tolerate time delays and packet loss brought about by the communication network. In event-based control the traditional periodic sampling is replaced by state-dependent triggering schemes. Novel methods for multi-agent systems ensure complete or clustered synchrony of agents with identical or with individual dynamics. The book includes numerous references to the most recent literature. Many methods are illustrated by numerical examples or experimental results.
