Observability-Blocking Controls for Double-Integrator and Higher Order Integrator Networks
The design of state-feedback controls to block observability at remote nodes is studied for double integrator network (DIN) and higher order integrator network models. A preliminary design algorithm is presented first for DIN that requires $m+2$ actuation nodes to block observability for the measurement obtained from a set of $m$ nodes. The algorithm is based on eigenstructure assignment technique and leverages the properties of the eigenvectors in DIN. Next, the topological structure of the network is exploited to reduce the number of controllers required for blocking observability. The number of actuation nodes in sparser design depends on the cardinality of a cutset separating the actuation and measurement locations. Later, the design principles are generalized for blocking observability in $N$-th order integrator network models.
Code (0)
등록된 구현이 없습니다.
Tasks
BlockingMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
Observability-Blocking Control using Sparser and Regional Feedback for Network Synchronization Processes
The design of feedback control systems to block observability in a network synchronization model, i.e. to make the dynamics unobservable from measurements at a subset of the network's nodes, is studied. First, a general …
BlockingConsensus of networked double integrator systems under sensor bias
A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with…
PositionLeast Restrictive Hyperplane Control Barrier Functions
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational res…
Trajectory tracking control of the second-order chained form system by using state transitions
This paper proposes a novel control approach composed of sinusoidal reference trajectories and trajectory tracking controller for the second-order chained form system. The system is well-known as a canonical form for a c…
FormState-switching control of the second-order chained form system
This paper addresses a motion planning problem of the second-order chained form system. The author presents a novel control approach based on switching a state. The second-order chained form system is composed of three s…
FormMotion Planning