A method is presented for the systematic design of stabilising decentralised controllers for large-scale interconnected dynamical systems. The design method is based on (i) decentralised implementation of global controllers obtained by using existing global controller design methods, (ii) model reduction of dynamical systems, and (iii) modelling of the interactions among the subsystems comprisi...

In the supervisor control theory framework of discrete-event systems, modular or decentralised control schemes are proposed and used to overcome computational complexity problem. However in most studies, the eligibility conditions to establish those schemes are required to be verified for every specification. This means that even a minor modification of specifications such as production sequenc...

This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances. Decentralised angular separation control ...

This paper describes the recent steps taken at PMA in the development of a pair of legs for a humanoid robot. More specifically, the paper discusses the design of a decentralised motion control architecture for the robot. Several strong arguments for hierarchical and decentralised control are given. However, robust real-time and flexible implementation of such a decentralised architecture is no...

The design of decentralised control schemes has two major aspects. The selection of the decentralised structure and then the design of the decentralised controller that has a given structure and addresses certain design requirements. This paper deals with the parametrisation and selection of the decentralized structure such that problems such as the decentralised pole assignment may have soluti...

Many modern computing systems have to operate in environments that are highly interconnected, highly unpredictable, are in a constant state of flux, in which there is no centralized point of control, and in which the constituent components are owned by a variety of stakeholders that each have their own aims and objectives. Relevant exemplars include the Web, Grid Computing, Peer-to-Peer systems...

T paper studies a two-echelon assembly system and explores several important issues in managing decentralized supply chains. First, we investigate the behavior of the assembly system under decentralized control. It is shown that the Nash equilibrium of the competitive assembly system exists but is never system optimal. Next, we examine the role of information in the assembly system. We consider...