A Passivity Approach to Distributed Control: from Robots to Networks
Department of Electrical, Computer, & Systems Engineering
Time and Place
Mauldin Auditorium (NSH 1305)
Refreshments 3:15 pm
Talk 3:30 pm
Distributed control occurs in nature such as the collaborative load carrying in social insects and formation flying in flocking birds, and man-made systems such as congestion control in data networks, power distribution in power systems, and collaborative transport and assembly in team robots. It is possible to achieve a common group objective without explicit coordination and communication between individual actions through indirect communications using feedback. In this talk, we consider the stability, performance, and robustness of several distributed control examples: collaborative load carrying by multiple robots, network flow regulation, and CDMA power control. The main tool that we use is the concept of passivity. Passivity is motivated by energy conservation or dissipation in physical systems and has long been used in the stability analysis and design of nonlinear feedback systems, including mechanical structures and electrical circuits. I will review the passivity approach and then present its applications to distributed control. I will also discuss the extension of passivity based control design to iterative learning control and receding horizon control applied to high performance motion control and the control of driftless nonholonomic systems.
John Ting-Yung Wen received his B.Eng. from
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