Thesis
Formation and tracking in sensing agent networks: controller design and security
Washington State University
Master of Science (MS), Washington State University
2006
Handle:
https://hdl.handle.net/2376/103787
Abstract
Distributed control systems have been receiving more and more attention these years because of some of their advantages over centralized control systems. One significant advantage is that distributed control systems enable communicating agents to complete complex dynamic tasks cooperatively. One powerful control strategy to achieve such complex tasks is to have each agent track a specified command signal. This control problem is known as tracking control. These tracking problems require communications within the network, in particular, we consider double-integrator networks. Noting that the communication capabilities of simple agents are highly limited, we develop the desirable low-information-flow tracking algorithms for double-integrator networks. In the process, we also study the role played by sensing topology of the network, and identify the trajectory information that must be distributed to the agents. Another important advantage of distributed control systems is their potential to achieve security. In this thesis, we shall motivate and define the notions of security for single-integrator networks. Based on our definition, we then study how the parameters of the controllers/algorithms can be chosen to achieve algorithmic goals while maintaining security.
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Details
- Title
- Formation and tracking in sensing agent networks
- Creators
- Liang Chen
- Contributors
- Sandip Roy (Degree Supervisor)Ali Saberi (Degree Supervisor)
- Awarding Institution
- Washington State University
- Academic Unit
- Electrical Engineering and Computer Science, School of
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University; [Pullman, Washington] :
- Identifiers
- 99900525128401842
- Language
- English
- Resource Type
- Thesis