Geir E. Dullerud
University of Illinois at Urbana-Champaign
We present recent developments in our effort to provide systematic analysis tools for control design of distributed systems which may operate over wireline or wireless networks. New results and current work are presented on the control of distributed systems formed from the interconnection of multiple heterogeneous input-output subsystems. In particular we will discuss progress on two specific problems. The first is control design over graph interconnections, and is aimed at addressing the need for synthesizing controllers that have a specific communication topology. The second problem is that of designing systems where information is received with varying latency; our approach is by means of our recent and more general work on switched and Markovian linear systems.
Our new multi-vehicles testbed (HOTDEC) designed for extensive experimentation with the control issues arising from control over networks will also be briefly presented. It consists of autonomous hovercraft, wirelessly communicating with each other and users on the Internet.