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Full-Text Articles in Controls and Control Theory
Network Synthesis For Dynamical System Stabilization, Miroslav Pajic, Shreyas Sundaram, George Pappas, Rahul Mangharam
Network Synthesis For Dynamical System Stabilization, Miroslav Pajic, Shreyas Sundaram, George Pappas, Rahul Mangharam
Rahul Mangharam
We present our recent results in the area of distributed control over wireless networks. In our previous work, we introduced the concept of a Wireless Control Network (WCN), where the network acts as a decentralized structured controller. In this case, the network is not used only as a communication medium (as in traditional control paradigms), but instead as a fully distributed computational substrate. We show that the dynamics of the plant dictate the types of network topologies that can be used to stabilize the system. Finally, we describe how to obtain a stabilizing configuration for the WCN if the topological …
A Simple Distributed Method For Control Over Wireless Networks, Miroslav Pajic, Shreyas Sundaram, George Pappas, Rahul Mangharam
A Simple Distributed Method For Control Over Wireless Networks, Miroslav Pajic, Shreyas Sundaram, George Pappas, Rahul Mangharam
Rahul Mangharam
We present a distributed scheme used for control over wireless networks. In our previous work, we introduced the concept of a Wireless Control Network (WCN), where the network itself, with no centralized node, acts as the controller. In this work, we show how the WCN can be modified to include observer style updates which substantially improves robustness of the closed-loop system to link failures. In addition, we analyze how the WCN simplifies extraction of the communication and computation schedules and enables system compositionality and scalability.
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
Rahul Mangharam
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire …
Autoplug: An Architecture For Remote Electronic Controller Unit Diagnostics In Automotive Systems, Yash Vardhan Pant, Miroslav Pajic, Rahul Mangharam
Autoplug: An Architecture For Remote Electronic Controller Unit Diagnostics In Automotive Systems, Yash Vardhan Pant, Miroslav Pajic, Rahul Mangharam
Rahul Mangharam
In 2010, over 20.3 million vehicles were recalled. Software issues related to automotive controls such as cruise control, anti-lock braking system, traction control and stability control, account for an increasingly large percentage of the overall vehicles recalled. There is a need for new and scalable methods to evaluate automotive controls in a realistic and open setting. We have developed AutoPlug, an automotive Electronic Controller Unit (ECU) architecture between the vehicle and a Remote Diagnostics Center to diagnose, test, update and verify controls software. Within the vehicle, we evaluate observerbased runtime diagnostic schemes and introduce a framework for remote management of …
The Wireless Control Network: A New Approach For Control Over Networks, Miroslav Pajic, Shreyas Sundaram, George Pappas, Rahul Mangharam
The Wireless Control Network: A New Approach For Control Over Networks, Miroslav Pajic, Shreyas Sundaram, George Pappas, Rahul Mangharam
Rahul Mangharam
We present a method to stabilize a plant with a network of resource constrained wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encoding along the way), our approach treats the network itself as the controller. Specifically, we formulate a strategy for each node in the network to follow, where at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire network to behave as a …
Closing The Loop: A Simple Distributed Method For Control Over Wireless Networks, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
Closing The Loop: A Simple Distributed Method For Control Over Wireless Networks, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
Rahul Mangharam
We present a distributed scheme used for control over a network of wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encoding along the way), our approach, Wireless Control Network (WCN), treats the network itself as the controller. In other words, the computation of the control law is done in a fully distributed way inside the network. We extend the basic WCN strategy, where at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in …
Embedded Virtual Machines For Robust Wireless Control And Actuation, Miroslav Pajic, Rahul Mangharam
Embedded Virtual Machines For Robust Wireless Control And Actuation, Miroslav Pajic, Rahul Mangharam
Rahul Mangharam
Embedded wireless networks have largely focused on open-loop sensing and monitoring. To address actuation in closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination and control. As the links, nodes and topology of wireless systems are inherently unreliable, such time-critical and safety-critical applications require programming abstractions and runtime systems where the tasks are assigned to the sensors, actuators and controllers as a single component rather than statically mapping a set of tasks to a specific physical node at design time. To this end, we introduce the Embedded Virtual Machine (EVM), …
Topological Conditions For Wireless Control Networks, Miroslav Pajic, Shreyas Sundaram, George J. Pappas, Rahul Mangharam
Topological Conditions For Wireless Control Networks, Miroslav Pajic, Shreyas Sundaram, George J. Pappas, Rahul Mangharam
Rahul Mangharam
We study the problem of stabilizing a linear system over a wireless control network. We propose a scheme where each wireless node maintains a scalar state, and periodically updates it as a linear combination of neighboring plant outputs and node states. We make connections to decentralized fixed modes and structured system theory to provide conditions on the network topology that allow the system to be stabilized. Our analysis provides the minimal number of feedback edges that have to be introduced to stabilize the system over a network, and shows that as long as the network connectivity is larger than the …