Ali Charara
Reine Kfoury Talj
ali.charara@utc.fr
reine.talj@utc.fr
Program
Unified representation, examples of modeling
Analysis of systems properties : stability, controllability, observability,
Linearization
Linear systems : control and observer
State feedback
Luenberger observers
Input-output decoupling control
Nonlinear control
Global linearization (input-output decoupling)
Lyapunov
Introduction to Systems of Systems control
Hierarchical control
Decentralized and Distributed control
Networked control
Geographical distribution
Emergent behavior
(Maier, 1998)
Some application domains of SoS
Air Traffic Control
Internet
Intelligent Transport Systems
Renewable energy systems
Robotic swarms
Space
Defense and military
Environment, etc
Large Scale Systems vs Systems of Systems
TOP
LSS
TOP
BOT.
BOT.
LSS
Hierarchical Control
Decentralized Control
Distributed Control
Consensus-based Control
Networked Control
An introduction to Systems of Systems Control
Hierarchical control
An introduction to Systems of Systems Control
Hierarchical control
Distributed control
An introduction to Systems of Systems Control
Consensus-based Control
It is a cooperative control paradigm based on consensus among
systems in a SoS.
Multiple rovers
No single control unit/rover
Units must agree on goal
Sub goals may be different for each unit
Shared communications
(Mo Jamshidi)
An introduction to Systems of Systems Control
Consensus-based Control
Step3 : Centralized strategy
An introduction to Systems of Systems Control
Consensus-based Control
Step4 : Consensus Building
An introduction to Systems of Systems Control
Networked control
An introduction to Systems of Systems Control
Networked control
Minimize , ,
Subject to , , = 0.
Let the problem and its objective function be decomposed into two subsystems:
, , = , , + ( , , )
and
, , , = 0, = 1,2
Hierarchical control
1. Model-Coordination Method
Second-level problem
min
= + ( )
Hierarchical control
2. Goal-Coordination Method
Consider the same optimization problem: Minimize , , Subject to , , = 0.
In this method, the interaction is completely removed by cutting all the links among the
subsystems . Let be the outgoing variable from the th subsystem, and the
corresponding input. Since the interaction is removed, its obvious that .
The global problem is completely decoupled; the subsystems problems are completely
independent. The new formulation of the objective functions is:
, , , =0
, , , =0
It is necessary that the interaction balance principle be satisfied ( = ).
Consider the following new cost function:
, , , , = , , + , , + ( )
Where is a vector of weighting parameters which causes any interaction
unbalance to affect the objective function.
= + .
Hierarchical control
2. Goal-Coordination Method
Subsystem 2:
min , , , + +
$ ,!$ ,"$ ,#
subject to , , , =0
Hierarchical control
To apply these methods, two principles can be applied: the Interaction prediction
principle and the interaction balance principle.
' = ( ) +* ) +1 ) , 0 = +, = 1,2, , 3
= 45 6 6 )
68
69
is a linear combination of the states of the other 3 1 subsystems, and 5 6 is an - -6
matrix.
Hierarchical control
Example
0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0
3 2 1 0 0 0 0 0 0 1 0 0 1 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0
1 0 0 1 3 2 0 1 0 0 0 0 0 0
'= +
0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 1 0 1 2 3 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0
0 1 0 0 0 0 1 0 0 3 2 1 0 0
Hierarchical control
This system can be decomposed into 4 3rd-order subsystems with state equations
0 1 0 0 0 0 1 0 0 0
' = 0 0 1 + 0 0 ; ' = 0 0 1 + 0 0
3 2 1 1 0 1 3 2 0 0
0 1 0 0 0 0 1 0 0 0
<' = 0 0 1 <+ 0 0 < ; =' = 0 0 1 =+ 0 0 =
1 2 3 0 1 3 2 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0
5 = = 0 0 0 ; 5 = 0 0 0 ; 5 < = 0 0 0 ; 5< = 0 0 0
1 0 0 1 0 0 0 1 0 0 1 0
0 0 0 0 0 0
5= = 0 0 0 ; 5=< = 0 0 0 .
0 1 0 1 0 0
Hierarchical Control
Hierarchical Control
Interaction prediction principle in Model coordination
' ) = ) ( ( ) + ) @ ) A )B )C = A
Step 2: Initialize an arbitrary value for ()) and find the corresponding value for ()),
then solve N adjoint differential equations:
7
F' ) = ( @ ) F ) ) 1 ) + 4 56 6 ) )B F ()C ) = 0
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69
Store F ) ; = 1,2, . . , 3 ,-. 0 ) )C .
Hierarchical Control
Step 3: Solve ' ) = ( @ ) ) @F ) +1 ()) )B 0 = +
Store ) ; = 1,2, . . , 3 ,-. 0 ) )C .
Step 4: At the second-level (coordinator), use the results of Steps 2 and 3 to update the
coordinator vector:
G
1 I ())
GH 7
())
= 4 5 6 6 ())
())
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69
where J is the number of the current iteration.
Step 5: Check for the convergence at the second-level (coordinator) by evaluating the
overall interaction error:
7 LM 7 7