of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy POTENTIAL FIELD-BASED DECENTRALIZED CONTROL METHODS FOR NETWORK CONNECTIVITY MAINTENANCE By Zhen Kan December 2011 Chair: Warren E. Dixon Major: Mechanical Engineering In cooperative control for a multi-agent system, agents coordinate an...

This article presents a decentralized control scheme for the complex problem of simultaneous position and internal force control in cooperative multiple manipulator systems. The proposed controller is composed of a sliding mode control term and a force robustifying term to simultaneously control the payload’s position/orientation as well as the internal forces induced in the system. This is acc...

Developing large control architectures is complex. It usually requires a decomposition in subsystems or control modules, which have to communicate in complex patterns in order to achieve a common objective. Furthermore, control modules operate concurrently, and are usually installed on a distributed computer platform. Analysis of the relationships between elements is of the utmost importance in...

This paper studies learning-based decentralized power control methods for cell-free massive multiple-input multiple-output (MIMO) systems where a central processor (CP) controls access points (APs) through fronthaul coordination. To determine the transmission policy of distributed APs, it is essential to develop network-wide collaborative optimization mechanism. address this challenge, we desig...

This paper presents decentralized methods for allocating heterogeneous tasks to a network of agents with different capabilities, when the rules of engagement dictate various cooperation constraints. The new methods are built upon the consensus-based bundle algorithm (CBBA), and the key extensions to the baseline CBBA are: (a) task decomposition and associated scoring modification to allow for s...

In this project, we have developed a framework for resource allocation in a multi user cooperative wireless network. We have considered centralized and decentralized node-relay assignment with the objective of maximizing the sum throughput. We present an efficient polynomial time centralized assignment algorithm to achieve this objective, and also investigate efficient decentralized schemes tha...