Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement large degrees of freedom, equivalent to animals, into the robots’ bodies. For taming large degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However, a systematic way of designing such autonomous d...

In this paper, we propose a PID control design method for decentralized control systems from the inverse linear quadratic problem viewpoint by using the structure of controllers obtained by the ILQ(Inverse Linear Quadratic) design method. First, we show an optimal decentralized PID design method for systems with relative degree no more than 2 and block diagonal decoupling matrix. Then, we deriv...

The decentralized supervisory control problem of discrete event systems under partial observation is studied in this paper. The main result of the paper is a necessary and sufficient condition for the existence of decentralized supervisors for ensuring. That the controlled behavior of the system lies in a given range. The contribution of the paper is (1) our setting of decentralized control gen...

This paper describes how decentralized control theory can be used to control multiple cooperative robotic vehicles. Models of cooperation are discussed and related to the input/output reachability and structural observability and controllability of the entire system. Whereas decentralized control research in the past has concentrated on using decentralized controllers to partition complex physi...

Hsiao, M.-T.T. and A.A. Lazar, Optimal decentralized flow control of Markovian queueing networks with multiple controllers, Performance Evaluation 13 (1991) 181-204. A Markovian queueing network model is used to derive decentralized flow control mechanisms in computer communication networks with multiple controllers. Under the network optimization criterion, finding the optimal decentralized fl...

NuCypher KMS is a decentralized Key Management System (KMS) that addresses the limitations of using consensus networks to securely store and manipulate private, encrypted data [1]. It provides encryption and cryptographic access control, performed by a decentralized network, leveraging proxy re-encryption [2]. Unlike centralized KMS as a service solutions, it doesn’t require trusting a service ...

In this paper, the design of the optimal decentralized state-feedback controllers is considered for a wireless sensor and actuator network (WSAN) with stochastic network-induced delays and packet losses. In particular, taking advantage of multiple controllers, we model the WSAN as a wireless networked control system (NCS) with decentralized controllers, and then formulate the stochastic optimal...

Supervisory control synthesis encounters with computational complexity. This can be reduced by decentralized supervisory control approach. In this paper, we define intrinsic control consistency for a pair of states of the plant. G-control consistency (GCC) is another concept which is defined for a natural projection w.r.t. the plant. We prove that, if a natural projection is output control cons...

This paper describes how decentralized control theory can be used to analyze the control of multiple cooperative robotic vehicles. Models of cooperation are discussed and related to the input/output reachability, structural observability, and controllability of the entire system. Whereas decentralized control research in the past has concentrated on using decentralized controllers to partition ...