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227-0690-06L Advanced Topics in Control
Distributed Systems and Control
Spring 2015


PERSONNEL

OfficeOfficePhoneEmail
Lecturer: Florian Dörfler
Assistants: Basilio Gentile ETL K 11 044 632 3886 gentileb(at)control.ee.ethz.ch
Bala Kameshwar Poolla ETL K 26 044 632 5321 bpoolla(at)control.ee.ethz.ch
Francesca Parise ETL K 28 044 632 5287 parisef(at)control.ethz.ch
Tyler Summers ETL K 24 044 632 2326 tsummers(at)control.ethz.ch

LECTURE LOCATION AND SCHEDULE

Lecture: Tuesdays 16:15 to 18:00 CAB G 61
Exercises: Fridays 10:15 to 12:00 ETZ D 61.1
Office hour: Wednesdays 14:00 to 15:00 ETL I 10

PREREQUISITES

Control systems (227-0216-00L), Linear system theory (227-0225-00L), or equivalents, basic Matlab skills as well as sufficient mathematical maturity.

CONTENT

Distributed control systems include large-scale physical systems, engineered multi-agent systems, as well as their interconnection in cyber-physical systems. Representative examples are electric power grids, camera networks, and robotic sensor networks. The challenges associated with these systems arise due to their coupled, distributed, and large-scale nature, and due to limited sensing, communication, and control capabilities. This course covers modeling, analysis, and design of distributed control systems as well as applications in various engineering domains. Topics covered in the course include
  • the theory of graphs with an emphasis on algebraic and spectral graph theory;
  • basic models of interconnected dynamical systems and multi-agent systems;
  • continuous-time and discrete-time distributed averaging and consensus algorithms;
  • coordination algorithms for rendezvous, formation, flocking, and deployment;
  • distributed algorithms computation and optimization over networks; and
  • applications in robotic coordination, coupled oscillators, social networks, sensor networks, power grids, and epidemics.

GRADING

The class is based on biweekly homework assignments (50%) and a final project (50%).

SYLLABUS

A tentative syllabus can be found here