Modelling and control of networked distributed systems
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Additional Info
- ECTS credits: 6
- University: University of L'Aquila
- Semester: 3
- Lecturer 1: Giordano Pola
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Objectives:
The aim of this course is to provide basic knowledge of the analysis and design of dynamic multiagent networks
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Topics:
- Introduction to graph theory: graphs; matrices representation; algebraic and spectral graph theory; graph symmetries.
- The agreement protocol - the static case: undirected and directed networks; agreement and markov chains; the Factorization Lemma.
- The agreement protocol - Lyapunov and LaSalle: agreement via Lyapunov functions, agreement over switching digraphs, edge agreement, generalizations to nonlinear systems.
- Formation Control: formation specification-shapes and relative states; shape based control; relative state based control, dynamic formation selection, assigning roles.
- Mobile Robots: Cooperative robotics; weighted graph based feedback; dynamic graphs; formation control revisited; the coverage problem.
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Prerequisites:
Linear Algebra. Linear control systems. Stability theory for linear control systems
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Books:
M. Mesbahi and M. Egerstedt, Graph Theoretic Methods in Multiagent Networks. Princeton University Press. 2010
- Teaching material 1: http://press.princeton.edu/titles/9230.html