Controls

1
Cooperative Control of Networked Dynamical
SystemsStability, Lyapunov Functions, and
Control Design

• Zhihua Qu
• School of Electrical Engineering and Computer
  Science
• University of Central Florida
• at
• Automation Robotics Research Institute
• University of Texas at Arlington
• December 8, 2006

2

Acknowledgments

• Wonderful and memorable experiences at Ga Tech
• Special thanks to Frank and Ed my teachers
  educators and scholars as my role models.

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Networked Systems
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Standard Dynamical Systems
Known results Stability controllability
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Networked Dynamical Systems
Issues stability conditioncontrollability
condition
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Networked Dynamical Systems
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Representation of Sensing and Communication
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Sensing/Communication Matrix
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Example of S(t)
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Properties of S(t)
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Linear Cooperative Control
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Overall Networked Systems
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Cooperative Stability and Stabilizability
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Networked System -- Canonical Form
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Cooperative Control Lyapunov Functions Piecewise
Constant Topology
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Importance of Cooperative Control Lyapunov
Functions
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Example of Applications UAVs