1. Cooperative Control of Networked Dynamical Systems Stability, 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
11/15/2018
Controls & Robotics Laboratory
SEECS, UCF

2. Controls & Robotics Laboratory
Acknowledgments
Wonderful and memorable experiences at Ga Tech
Special thanks to Frank and Ed: my teachers; educators and scholars as my role models.
11/15/2018
Controls & Robotics Laboratory
SEECS, UCF

3. Controls & Robotics Laboratory
Networked Systems
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Controls & Robotics Laboratory
SEECS, UCF

4. Standard Dynamical Systems
Known results: Stability controllability
11/15/2018
Controls & Robotics Laboratory
SEECS, UCF

5. Networked Dynamical Systems
Issues: stability condition controllability condition
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Controls & Robotics Laboratory
SEECS, UCF

6. Networked Dynamical Systems
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Controls & Robotics Laboratory
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7. Representation of Sensing and Communication
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Controls & Robotics Laboratory
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8. Sensing/Communication Matrix
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9. Controls & Robotics Laboratory
Example of S(t)
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10. Controls & Robotics Laboratory
Properties of S(t)
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11. Linear Cooperative Control
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Controls & Robotics Laboratory
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12. Overall Networked Systems
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Controls & Robotics Laboratory
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13. Cooperative Stability and Stabilizability
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Controls & Robotics Laboratory
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14. Networked System -- Canonical Form
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15. Cooperative Control Lyapunov Functions: Piecewise Constant Topology
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Controls & Robotics Laboratory
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16. Importance of Cooperative Control Lyapunov Functions
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Controls & Robotics Laboratory
SEECS, UCF

17. Example of Applications: UAVs
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Controls & Robotics Laboratory
SEECS, UCF