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  • 1.
    Khorsand, Omid
    KTH, School of Electrical Engineering (EES), Automatic Control.
    A Decentralized Stabilization Scheme for Large-scale Interconnected Systems2010Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This thesis considers the problem of decentralized control of large-scale systems by means of a decomposition and decentralization approach. Having decomposed the system into a number of interconnected subsystems a set of local decentralized controllers is constructed for individual subsystems. An important issue is to adapt methods with existing information structure constraints. Namely, sometimes exchange of information is not possible among various subsystems, or the transmission can be costly, lossy or delayed, which the latter, is usually unavoidable due to the prevailing technological trends of present-day, in using shared wireless networks. So the best way is that individual agents utilize their own locally available information for the purpose of control and estimation. Understandably, this constraint could also make the class of stabilizable systems smaller. Having described the basics of interconnected systems and decentralized control, a special class of stable systems is studied and an easy to follow algebraic solution for the stability of an interconnected system is put forward. Using the notion of diagonal dominance and some well known results from matrix theory, a decentralized stabilization scheme has been proposed for continuous and discrete time systems and the class of stabilizable systems has been identified using the linear programming technique. The design is reliable under structural perturbations by which subsystems are connected and disconnected again during the functioning of the system. Finally some nice properties of the mentioned class of stable systems are shown, especially the problem of robust stability for interval matrix family is considered and it is shown that this problem admits a simple solution for the studied family of systems.

  • 2.
    Khorsand, Omid
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Alam, Assad
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Gattami, Ather
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Optimal distributed controller synthesis for chain structures applications to vehicle formations2012In: ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics, 2012, p. 218-223Conference paper (Refereed)
    Abstract [en]

    We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems composed of interconnected subsystems over a chain graph. By decomposing the system into orthogonal modes, the cost function can be separated into individual components. Thereby, derivation of the optimal controllers in state-space follows immediately. The optimal controllers are evaluated under the practical setting of heavy duty vehicle platooning with communication constraints. It is shown that the performance can be significantly improved by adding a few communication links. The results show that the proposed optimal distributed controller outperforms a suboptimal controller in terms of control input energy.

  • 3.
    Khorsand, Omid
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Gattami, Ather
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    A Decentralized Stabilization Scheme for a Class of Large-scale Interconnected Systems2011In: Proceedings of the 18th IFAC World Congress, 2011. Volume 18, Part 1 / [ed] Bittanti, Sergio, Cenedese, Angelo, Zampieri, Sandro, 2011Conference paper (Refereed)
    Abstract [en]

    In this paper, a decentralized control approach for a class of large-scale interconnected systems is proposed. A set of local decentralized controllers is constructed to guarantee the stability of the global system utilizing the notion of superstability. The control scheme and design are based on local state information and model knowledge of the adjacent subsystems. The approach leads to a computationally ecient method where the design procedure is performed on the subsystem level using linear programming. The solutions have been optimized and it is shown that the scheme has some useful features such as monotonic convergence and robustness under interval matrix uncertainty.

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