Graph-Based Control of Networked Systems
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Networked systems have attracted great interests from the control society during the last decade. Several issues rising from the recent research are addressed in this dissertation. Connectedness is one of the important conditions that enable distributed coordination in a networked system. Nonetheless, it has been assumed in most implementations, especially in continuous-time applications, until recently. A nonlinear weighting strategy is proposed in this dissertation to solve the connectedness preserving problem. Both rendezvous and formation problem are addressed in the context of homogeneous network. Controllability of heterogeneous networks is another issue which has been long omitted. This dissertation contributes a graph theoretical interpretation of controllability. Distributed sensor networks make up another important class of networked systems. A novel estimation strategy is proposed in this dissertation. The observability problem is raised in the context of our proposed distributed estimation strategy, and a graph theoretical interpretation is derived as well. The contributions of this dissertation are as follows: It solves the connectedness preserving problem for networked systems. Based on that, a formation process is proposed. For heterogeneous networks, the leader-follower structure is studied and sufficient and necessary conditions are presented for the system to be controllable. A novel estimation strategy is proposed for distributed sensor networks, which could improve the performance. The observability problem is studied for this estimation strategy and a necessary condition is obtained. This work is among the first ones that provide graph theoretical interpretations of the controllability and observability issues.