Semi-Autonomous Networks: Effective Control of Networked Systems Through Protocols, Design, and Modeling

ISBN-13: 9783319150093 / Angielski / Twarda / 2015 / 187 str.

Airlie Chapman

Opis

This thesis analyzes and explores the design of controlled networked dynamic systems - dubbed semi-autonomous networks. The work approaches the problem of effective control of semi-autonomous networks from three fronts: protocols which are run on individual agents in the network; the network interconnection topology design; and efficient modeling of these often large-scale networks. The author extended the popular consensus protocol to advection and nonlinear consensus. The network redesign algorithms are supported by a game-theoretic and an online learning regret analysis.

Spis treści

Nomenclature Acknowledgments Dedication Supervisor's Foreword Introduction Preliminaries Notation Network Topology Consensus Dynamics Part 1. Beyond Linear Consensus Chapter 1. Advection on Graphs 1.1. Introduction 1.2. Advection Properties 1.3. Examples 1.4. Remarks Chapter 2. Beyond Linear Protocols 2.1. Introduction 2.2. Model 2.3. Equilibria and Convergence 2.4. Extension 2.5. Remarks Part 2. Network Measures and Adaptive Topologies Chapter 3. Measures and Rewiring 3.1. Introduction 3.2. Leader-Follower Consensus Dynamics 3.3. Mean Tracking Measure 3.4. Variance Damping Measure 3.5. Fusing Adaptive Protocols 3.6. Remarks Chapter 4. Distributed Online Topology Design for Disturbance Rejection 4.1. Introduction 4.2. Online Convex Optimization 4.3. Model and Measure 4.4. Distributed Online Topology Design Algorithm 4.5. Remarks Chapter 5. Network Topology Design for UAV Swarming with Wind Gusts 5.1. Introduction 5.2. Model 5.3. Open Loop H2 Norm 5.4. Topology Design 5.5. Remarks Part 3. Cartesian Product Networks Chapter 6. Cartesian Products of Z-Matrix Networks: Factorization and Interval Analysis 6.1. Introduction 6.2. Cartesian Product 6.3. Z-matrix Dynamics 6.4. Interval Matrices 6.5. Z-Matrix Dynamics over Cartesian Products of Digraphs 6.6. Remarks Chapter 7. On the Controllability and Observability of Cartesian Product Networks 7.1. Introduction 7.2. Digraph Automorphisms 7.3. Problem setup 7.4. Control Product 7.5. Layered Control 7.6. Filtering on Social Product Networks 7.7. Remarks Part 4. Structural Controllability Chapter 8. Strong Structural Controllability of Networked Dynamics 8.1. Introduction 8.2. Pattern Matrices 8.3. Model 8.4. Structural Controllability 8.5. Testing inputs for Strong S-Controllability 8.6. Finding Strongly S-Controllable Inputs 8.7. Remarks Chapter 9. Security and Infiltration of Networks: A Structural Controllability and Observability Perspective 9.1. Introduction 9.2. Weak Structural Controllability - A cautious lower bound 9.3. Strong Structural Controllability - Guaranteed Security 9.4. Remarks Final Remarks Chapter 10. Conclusion and Future Work 10.1. Concluding Remarks 10.2. Future Directions Appendix Single Anchor State Measures

O autorze

Airlie Chapman received the Ph.D. degree from the William E. Boeing Aeronautics and Astronautics Department at the University of Washington, Seattle in 2013 and was simultaneously awarded the M.S. degree in mathematics. She received the B.S. degree in aeronautical (space) engineering and the M.S. degree in engineering research from the University of Sydney, Australia, in 2006 and 2008, respectively. She is currently a postdoctoral fellow at the University of Washington, Seattle. Dr. Chapman was awarded the College of Engineering Dean’s Fellowship at the University of Washington and is a two-time recipient of the Amelia Earhart Fellowship. Her research interests are networked dynamic systems and graph theory with applications to robotics and aerospace systems.