A Theory of dynamics, control and optimization in layered architectures
A Theory of dynamics, control and optimization in layered architectures
复制标题
分层架构中的动力学、控制和优化理论
DOI：
10.1109/acc.2016.7525357
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Doyle
中科院分区：
文献类型：
--
作者：
N. Matni;J. Doyle
大规模分布式系统（例如，互联网，电网和自动化的高速公路系统）的控制器通常面临两个完整的任务：（i）找到有关功能或经济效用的最佳轨迹的任务， （ii）有效使系统状态遵循此轨迹目标模型的不确定性，过程和传感器噪声和分布式信息共享约束。单独存在，尚无控制者综合框架，以整体方式对待这两个问题。优化（LAO）框架和分布式最佳控制框架。由低级跟踪层和顶级计划层组成。计划问题，可优化实用程序功能的加权和“跟踪惩罚”，我们在广泛的信息下为跟踪层问题提供了精确的解决方案。共享限制，讨论对拟议的问题公式的扩展，并在数值示例中证明我们的方法的有效性。
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 “tracking 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.
联合经济调度与调频的分布式优化分解
影响因子：
6.6
作者：
Cai, Desmond;Mallada, Enrique;Wierman, Adam
通讯作者：
Wierman, Adam