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A Theory of Dynamics, Control and Optimization in Layered Architectures

Matni, Nikolai and Doyle, John C. (2016) A Theory of Dynamics, Control and Optimization in Layered Architectures. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 2886-2893. ISBN 978-1-4673-8680-7 .

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The controller of a large-scale distributed system (e.g., the internet, the power-grid and automated highway systems) is often faced with two complementary tasks: (i) that of finding an optimal trajectory with respect to a functional or economic utility, and (ii) that of efficiently making the state of the system follow this trajectory despite model uncertainty, process and sensor noise and distributed information sharing constraints. While each of these tasks has been addressed individually, there exists as of yet no controller synthesis framework that treats these two problems in a holistic manner. This paper proposes a unifying optimization based methodology that jointly addresses these two tasks by leveraging the strengths of well established frameworks for distributed control: the Layering as Optimization (LAO) framework and the distributed optimal control framework. We show that our proposed control scheme has a natural layered architecture composed of a low-level tracking layer and top-level planning layer. The tracking layer consists of a distributed optimal controller that takes as an input a reference trajectory generated by the top-level layer, where this top-level layer consists of a trajectory planning problem that optimizes a weighted sum of a utility function and a "racking penalty" regularizer. We further provide an exact solution to the tracking layer problem under a broad range of information sharing constraints, discuss extensions to the proposed problem formulation, and demonstrate the effectiveness of our approach on a numerical example.

Item Type:Book Section
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URLURL TypeDescription
Matni, Nikolai0000-0003-4936-3921
Doyle, John C.0000-0002-1828-2486
Additional Information:© 2016 AACC. This research was in part supported by NSF NetSE, AFOSR, the Institute for Collaborative Biotechnologies through grant W911NF-09-0001 from the U.S. Army Research Office, and from MURIs “Scalable, Data-Driven, and Provably-Correct Analysis of Networks” (ONR) and “Tools for the Analysis and Design of Complex Multi-Scale Networks” (ARO). The content does not necessarily reflect the position or the policy of the Government, and no official endorsement should be inferred.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Army Research Office (ARO)W911NF-09-0001
Office of Naval Research (ONR)UNSPECIFIED
Record Number:CaltechAUTHORS:20160802-081108720
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Official Citation:N. Matni and J. C. Doyle, "A Theory of dynamics, control and optimization in layered architectures," 2016 American Control Conference (ACC), Boston, MA, USA, 2016, pp. 2886-2893. doi: 10.1109/ACC.2016.7525357
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:69376
Deposited By: Ruth Sustaita
Deposited On:02 Aug 2016 23:35
Last Modified:03 Oct 2019 10:21

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