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Sensors 2016, 16(8), 1297; doi:10.3390/s16081297

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems

1
Department of Mechanical and Aerospace Engineering, Missouri University of Science and Technology, Rolla, MO 65409, USA
2
Laboratory for Autonomy, Control, Information, and Systems (LACIS), Department of Mechanical Engineering, University of South Florida, Tampa, FL 33620, USA
*
Author to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Received: 24 June 2016 / Revised: 3 August 2016 / Accepted: 5 August 2016 / Published: 16 August 2016
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)
View Full-Text   |   Download PDF [2669 KB, uploaded 16 August 2016]   |  

Abstract

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches. View Full-Text
Keywords: large-scale modular systems; networked control systems; uncertain dynamical systems; event-triggered control; decentralized control; distributed control; system stability and performance large-scale modular systems; networked control systems; uncertain dynamical systems; event-triggered control; decentralized control; distributed control; system stability and performance
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MDPI and ACS Style

Albattat, A.; Gruenwald, B.C.; Yucelen, T. On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems. Sensors 2016, 16, 1297.

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