An approach to observer-based decentralized control under periodic protocols

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Abstract

This paper provides an approach to analyze and design decentralized observer-based controllers for large-scale linear plants subject to network communication constraints and varying sampling intervals. Due to communication constraints, it is impossible to transmit all input and output data simultaneously over the communication network that connects sensors, actuators and controllers. A protocol orchestrates whatdata is sent over the network at each transmission instant. To handle these communication constraints, it is fruitful to adopt a switched observer structure that switches based on the transmitted information. By taking a discrete-time switched linear system perspective, we are able to derive a general model that captures all these aspects and provides insight into how they influence each other. Focusing on the class of so-called periodic protocols (of which the well-known Round Robin protocol is a special case), we provide a method to assess robust stability using a polytopic overapproximation and LMI-based stability conditions. Although the design problem is in generalnon-convex, we provide a procedure to find stabilizing control laws by simplifying the control problem. The design of the controller exploits the periodicity of protocols and ignores the global coupling between subsystems of the plant and variation of the sampling intervals. To assess the robust stability of the resulting closed-loop system including the ignored effects, an a posteriori analysis is conducted based on the derived LMIs.

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Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA
Pages2125-2131
Publication statusPublished - 2010

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Decentralized control
Controllers
Telecommunication networks
Sampling
Communication
Closed loop systems
Linear systems
Actuators
Switches
Sensors
Robust stability

Cite this

Bauer, N. W., Donkers, M. C. F., Heemels, W. P. M. H., & Wouw, van de, N. (2010). An approach to observer-based decentralized control under periodic protocols. In Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA (pp. 2125-2131)
Bauer, N.W. ; Donkers, M.C.F. ; Heemels, W.P.M.H. ; Wouw, van de, N. / An approach to observer-based decentralized control under periodic protocols. Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA. 2010. pp. 2125-2131
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Bauer, NW, Donkers, MCF, Heemels, WPMH & Wouw, van de, N 2010, An approach to observer-based decentralized control under periodic protocols. in Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA. pp. 2125-2131.

An approach to observer-based decentralized control under periodic protocols. / Bauer, N.W.; Donkers, M.C.F.; Heemels, W.P.M.H.; Wouw, van de, N.

Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA. 2010. p. 2125-2131.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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AB - This paper provides an approach to analyze and design decentralized observer-based controllers for large-scale linear plants subject to network communication constraints and varying sampling intervals. Due to communication constraints, it is impossible to transmit all input and output data simultaneously over the communication network that connects sensors, actuators and controllers. A protocol orchestrates whatdata is sent over the network at each transmission instant. To handle these communication constraints, it is fruitful to adopt a switched observer structure that switches based on the transmitted information. By taking a discrete-time switched linear system perspective, we are able to derive a general model that captures all these aspects and provides insight into how they influence each other. Focusing on the class of so-called periodic protocols (of which the well-known Round Robin protocol is a special case), we provide a method to assess robust stability using a polytopic overapproximation and LMI-based stability conditions. Although the design problem is in generalnon-convex, we provide a procedure to find stabilizing control laws by simplifying the control problem. The design of the controller exploits the periodicity of protocols and ignores the global coupling between subsystems of the plant and variation of the sampling intervals. To assess the robust stability of the resulting closed-loop system including the ignored effects, an a posteriori analysis is conducted based on the derived LMIs. Click here to download the paper

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Bauer NW, Donkers MCF, Heemels WPMH, Wouw, van de N. An approach to observer-based decentralized control under periodic protocols. In Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA. 2010. p. 2125-2131