Supervisory Control of Networked Control Systems

摘要

This project's objective was to develop methods for the reliable and robust control of dynamical systems over wireless communication networks. Specific accomplishments of this project were the identification of fundamental bounds on the optimal control system performance achievable with bit-rate limited feedback, liveness-enforcing supervisory control of concurrent systems modelled by Petri nets, methods ensuring cohesive swarming of multi-agent systems under consensus filtering, adaptive real-time scheduling methods for feedback control, and the development of a wireless autonomous mobile robot testbed.