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SUMMARY:Hard limits on robust control over delayed and quantized communica
 tions - Yorie Nakahira\, California Institute of Technology
DTSTART:20150828T130000Z
DTEND:20150828T140000Z
UID:TALK60537@talks.cam.ac.uk
CONTACT:Tim Hughes
DESCRIPTION:Animal sensorimotor control systems have a particularly intere
 sting tradeoff between speeds versus accuracy in nervous system communicat
 ions\, motivating a minimal model to explore its resulting impact system p
 erformance. We derived an analytical solution of system performance when r
 obust control is done using communication with lower bounds on delay and q
 uantisation error. This yields surprisingly different results from the ins
 ight gained from information theory\, which has dominated theoretical neur
 oscience. We then extend the same technique to design the controller and c
 hannel for a sampled data system with a distributed controller\, time-vary
 ing delay\, quantisation\, saturation\, and external disturbances. We show
  how to construct an invariant set of the state dynamics by a linear progr
 am without constructing a Lyapunov function. The use of l infinity signal 
 (and is corresponding induced matrix defined in the talk) appears essentia
 l to capture the communication error and facilitate scalable computation. 
 We finish with the analysis of its sub-optimality gap and the feasibility 
 condition of the proposed linear program.\n \nNakahira\, Y.\, Doyle\, J.C.
 \, and Matni\, N. (2015). Hard limits on robust control over delayed and q
 uantized communications. 54th Conference on Decision and Control.\n \nNaka
 hira\, Y.\,  Seungil Y. (2015) A linear programming framework for networke
 d control system design. 5th IFAC Workshop on Distributed Estimation and C
 ontrol in Networked Systems.
LOCATION:Cambridge University Engineering Department\, LR11
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