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In this paper we introduce a novel control network protocol , Try-Once-Discard (TOD), for networked control systems (NCS), and provide, for the rst time, an analytic proof of global exponential stability for both the new protocol and the commonly used statically scheduled access methods. Controllers are designed without regarding the presence of the network(More)
– The deÞning characteristic of a networked control system (NCS) is having a feedback loop that passes through a local area computer network. Our two-step design approach includes using standard control methodologies and choosing the network protocol and bandwidth in order to ensure important closed-loop properties are preserved when a computer network is(More)
—In leader-follower systems, follower nodes receive inputs from a set of leader nodes, exchange information, and update their states according to an iterative algorithm. In such algorithms, the node states may deviate from their desired values before the algorithm converges, leading to disruptions in network performance. In this paper, we study the problem(More)
—In many applications of multi-agent systems (MAS), a set of leader agents acts as control inputs to the remaining follower agents. In this paper, we introduce an analytical approach to selecting leader agents in order to minimize the total mean-square error of the follower agent states from their desired value in steady-state in the presence of noisy(More)
— In a leader-follower multi-agent system (MAS), a set of leader nodes receive state updates directly from the network operator. The follower nodes then compute their states based on the inputs from the leader nodes. In this paper, we study the problem of selecting a set of leader nodes in order to minimize the time required for the distributed coordination(More)
The main contribution of this letter is the derivation of a steepest gradient descent learning rule for a multilayer network of theta neurons, a one-dimensional nonlinear neuron model. Central to our model is the assumption that the intrinsic neuron dynamics are sufficient to achieve consistent time coding, with no need to involve the precise shape of(More)
A networked control system is characterized by having a feedback loop closed through a local area network. This paper considers methods for scheduling the use of the network to guarantee both stability and controller performance. We propose and validate algorithms for choosing message identiÞers for dynamically scheduled networked control systems. Two(More)