EE749: Decentralized Control of Complex Systems (Autumn 2021)

Instructor: Debraj Chakraborty

Time: Slot 13: Monday and Thursday 7pm-8:25pm

Classroom: Google Classroom: (Joining Link: https://classroom.google.com/c/Mzc0Mjg0NDk3NDIy?cjc=7bkwdfg)

Pre-requisite(s): EE302 or EE640 or an equivalent course in basic control theory

Syllabus:

1.  Graphs and Matrices:

a.     properties of the Laplacian matrix

b.     graph connectivity

c.     Non-negative matrices

d.     Perron Frobenius Theory

 

2.  Cooperative Control of Multi-agent systems:

a.     Coordination, Consensus algorithms

b.     Formation Control, Flocking.

c.     Connectivity Preserving distributed control

d.     H-2/H-infty performance of Consensus Protocols

e.     Rigid formation and Bearing only formations

f.      Gossip Algorithms, Opinion Dynamics

g.     Multi-player pursuit evasion games

 

3.  Inference over Graphs:

a.     Partial Coherence Graphs

b.     Granger Causality

c.     Bayesian Networks

 

Texts/References:

1.     R. B. Bapat, Graphs and Matrices, TRIM Series, Hindustan Book Agency, 2011

2.     Bapat and Raghavan, Non-Negative Matrices,  Cambridge University Press, 1997

3.     Carl D Meyer, Matrix Analysis and Applied Linear Algebra, SIAM, 2001

4.     Wei Ren, Randal W. Beard, Distributed Consensus in Multi-vehicle Cooperative Control, Communications and Control Engineering Series, Springer-Verlag, London, 2008

5.     Jeff S. Shamma Editor, Cooperative Control of Distributed Multi-Agent Systems, John Wiley and Sons, West Sussex, England, 2007.

6.     Frank Lewis, H. Zhang, K. Hengster-Movric, A. Das, Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches, Springer-verlag, London 2014

7.     Z. Li and Z. Duan, Cooperative Control of Multi-Agent Systems: A Consensus Region Approach, CRC Press, 2015.

Evaluation

Mid-Sem 20% + End-Sem 30% + Assignments 20% + Term Project 30%

Assignments –

Term Project –

Lecture Notes 2021

1.     Incidence Matrix

2.     Adjacency Matrix

3.     Laplacian

4.     Perron-Frobenius Theory

5.     Consensus

1.     Part 1

2.     Part 2

3.     Part 3

4.     Part 4

Lecture Notes 2013

1.     Lecture 1: Graphs and Matrices

2.     Lecture 2: Consensus in Multi-Agent Systems: Part 1 : References: paper1, paper2

3.     Lecture 3: Consensus in Multi-Agent Systems: Part 2: References: paper 1, paper 2, paper 3, paper4

4.     Lecture 4: Consensus Tracking: book chapter

5.     Lecture 5: Maintaining Connectivity + Non-holonomic agents: notes

6.     Lecture 6: Structured Systems

7.     Lecture 7: Connective Stability

8.     Deepak’s Lectures: First, Second