This paper describes an information-theoretic approach to decentralised and coordinated control of multi-robot sensor systems. It builds on techniques long established for the related problem of Decentralised Data Fusion (DDF). The DDF architecture uses information measures to communicate state estimates in a network of sensors. For coordinated control of robot sensors, the control objective be...

Wireless sensor networks are being deployed in an increasing number and variety of applications. Currently, most of these systems adopt a centralised control mechanism, but this has issues associated with scalability, robustness, and dynamism that often exist in such networks. Given this, decentralised approaches are appealing. However, the design of an efficient decentralised control regime is...

A procedure for the design and tuning of two control loops of a High Voltage DC system is presented. The controlled variables are direct current on the rectifier side and direct voltage on the inverter side. The dynamics of both control loops interact with each other and are determined by the overall properties of the combined AC/DC system. Constraints on the information available for feedback ...

We present an algorithm for decentralised navigation of multiple mobile robots. Completely decentralised Navigation functions build a potential field for each robot that is employed in a feedback control law. The potential field incorporates limited sensing and explicit prioritisation. A non-circular sensing area creates asymmetrical sensing by reducing the influence of robots and obstacles beh...

Based on the Lyapunov stability theorem, a methodology for designing a decentralised adaptive sliding mode control scheme is proposed in this paper. This scheme is implemented for a class of large-scale systems with both matched and mismatched perturbations. The perturbations and the interconnection terms are assumed to be norm bounded under certain mild conditions. The decentralised sliding su...

Peer-to-peer systems have recently gained a lot of attention in the academic community especially through the design of KBR (Key-Based Routing) algorithms and DHT (Distributed Hash Table)s. On top of these constructs were built promising applications such as video streaming applications but also storage infrastructures benefiting from the availability and resilience of such scalable network pro...

This paper presents an integral control strategy which integrates data from phase measurement units to damp inter-area oscillations. The proposed decentralized model predictive control method has one control unit for each controllable device (Generators, FACTS, HVDC) and coordinates their behavior after a fault. Each unit is designed by applying a systematic controller synthesis. The decentrali...

In many applications it is desirable to use a decentralised control strategy, in which multiple sensor-actuator pairs are utilised to control the response of a structure. This avoids the need for connections between multiple sensors and actuators and allows the system to be easily scaled to different applications. However, because the individual control loops, consisting of a single sensor-actu...