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359
Modeling and performance analysis of bittorrentlike peertopeer networks
 In SIGCOMM
, 2004
"... In this paper, we develop simple models to study the performance of BitTorrent, a second generation peertopeer (P2P) application. We first present a simple fluid model and study the scalability, performance and efficiency of such a filesharing mechanism. We then consider the builtin incentive mec ..."
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Cited by 571 (2 self)
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In this paper, we develop simple models to study the performance of BitTorrent, a second generation peertopeer (P2P) application. We first present a simple fluid model and study the scalability, performance and efficiency of such a filesharing mechanism. We then consider the builtin incentive mechanism of BitTorrent and study its effect on network performance. We also provide numerical results based on both simulations and real traces obtained from the Internet. 1
Perspectives and Results on the Stability and Stabilizability of Hybrid Systems
 PROCEEDINGS OF THE IEEE
, 2000
"... This paper introduces the concept of a hybrid system and some of the challenges associated with the stability of such systems, including the issues of guaranteeing stability of switched stable systems and finding conditions for the existence of switched controllers for stabilizing switched unstable ..."
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Cited by 196 (2 self)
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This paper introduces the concept of a hybrid system and some of the challenges associated with the stability of such systems, including the issues of guaranteeing stability of switched stable systems and finding conditions for the existence of switched controllers for stabilizing switched unstable systems. In this endeavor, this paper surveys the major results in the (Lyapunov) stability of finitedimensional hybrid systems and then discusses the stronger, more specialized results of switched linear (stable and unstable) systems. A section detailing how some of the results can be formulated as linear matrix inequalities is given. Stability analyses on the regulation of the angle of attack of an aircraft and on the PI control of a vehicle with an automatic transmission are given. Other examples are included to illustrate various results in this paper.
A VisionBased Formation Control Framework
 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
, 2002
"... We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees ..."
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Cited by 170 (10 self)
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We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor, an omnidirectional camera, for all our controllers. We describe estimators that abstract the sensory information at different levels, enabling both decentralized and centralized cooperative control. Our results include numerical simulations and experiments using a testbed consisting of three nonholonomic robots.
Stability and Stabilizability of Switched Linear Systems: A Short Survey of Recent Results
, 2005
"... During the last decade, there has been increasing interest in the stability analysis and switching control design for switched linear systems. This paper aims to briefly survey recent results in this field, focusing on stability analysis and switching stabilization problems. First, the stability an ..."
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Cited by 110 (10 self)
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During the last decade, there has been increasing interest in the stability analysis and switching control design for switched linear systems. This paper aims to briefly survey recent results in this field, focusing on stability analysis and switching stabilization problems. First, the stability analysis problem for switched linear systems is reviewed. We focus on the asymptotic stability analysis for switched linear systems under arbitrary switching, and highlight necessary and sufficient conditions for this problem. Secondly, the switching stabilization problem is studied, and a variety of switching stabilization methods found in the literature are outlined. One of the most elusive problems in the switched systems literature has been the switching stabilizability problem, that is under what condition it is possible to stabilize a switched system by properly designing switching control laws. Necessary and sufficient conditions for asymptotic stabilizability of switched linear systems are described.
Effective Synthesis of Switching Controllers for Linear Systems
, 2000
"... In this work we suggest a novel methodology for synthesizing switching controllers for continuous and hybrid systems whose dynamics are defined by linear differential equations. We formulate the synthesis problem as finding the conditions upon which a controller should switch the behavior of the sys ..."
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Cited by 108 (8 self)
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In this work we suggest a novel methodology for synthesizing switching controllers for continuous and hybrid systems whose dynamics are defined by linear differential equations. We formulate the synthesis problem as finding the conditions upon which a controller should switch the behavior of the system from one "mode" to another in order to avoid a set of bad states, and propose an abstract algorithm which solves the problem by an iterative computation of reachable states. We have implemented a concrete version of the algorithm, which uses a new approximation scheme for reachability analysis of linear systems.
Stability criteria for switched and hybrid systems
 SIAM Review
, 2007
"... The study of the stability properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. The objective of this paper is to outline some of these problems, to review progress made in solving these problems in a number of diverse communities, an ..."
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Cited by 103 (7 self)
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The study of the stability properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. The objective of this paper is to outline some of these problems, to review progress made in solving these problems in a number of diverse communities, and to review some problems that remain open. An important contribution of our work is to bring together material from several areas of research and to present results in a unified manner. We begin our review by relating the stability problem for switched linear systems and a class of linear differential inclusions. Closely related to the concept of stability are the notions of exponential growth rates and converse Lyapunov theorems, both of which are discussed in detail. In particular, results on common quadratic Lyapunov functions and piecewise linear Lyapunov functions are presented, as they represent constructive methods for proving stability, and also represent problems in which significant progress has been made. We also comment on the inherent difficulty of determining stability of switched systems in general which is exemplified by NPhardness and undecidability results. We then proceed by considering the stability of switched systems in which there are constraints on the switching rules, through both dwell time requirements and state dependent switching laws. Also in this case the theory of Lyapunov functions and the existence of converse theorems is reviewed. We briefly comment on the classical Lur’e problem and on the theory of stability radii, both of which contain many of the features of switched systems and are rich sources of practical results on the topic. Finally we present a list of questions and open problems which provide motivation for continued research in this area.
Hybrid control of formations of robots
 in Proceedings of the 2001 IEEE Conference on Robotics and Automation
, 2001
"... endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution m ..."
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Cited by 66 (11 self)
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endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubspermissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. This paper is posted at ScholarlyCommons.
Control of Underactuated Mechanical Systems with two Degrees of Freedom and Symmetry
"... In this paper, we consider a special class of underactuated mechanical systems with two degrees of freedom and symmetry. By symmetry, we mean the inertia matrix of the system is independent of the unactuated degree of freedom. We show that there exists a natural global change of coordinates obtained ..."
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Cited by 66 (10 self)
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In this paper, we consider a special class of underactuated mechanical systems with two degrees of freedom and symmetry. By symmetry, we mean the inertia matrix of the system is independent of the unactuated degree of freedom. We show that there exists a natural global change of coordinates obtained from the Lagrangian of the system that transforms the system into a partially linear cascade nonlinear system that is strict feedback. The nonlinear part of this system is nona#ne in control and this highly complicates control design for the system. We provide conditions under which this nonlinear subsystem can be globally stabilized and give globally stabilizing control laws for it. The strict feedback structure of the system in new coordinates allows us to obtain a globally stabilizing control law for the composite system using standard backstepping. We apply our result to global asymptotic stabilization of the Acrobot.
LieAlgebraic Stability Criteria For Switched Systems
, 2001
"... It was recently shown that a family of exponentially stable linear systems whose matrices generate a solvable Lie algebra possesses a quadratic common Lyapunov function, which implies that the corresponding switched linear system is exponentially stable for arbitrary switching. In this paper we prov ..."
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Cited by 65 (5 self)
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It was recently shown that a family of exponentially stable linear systems whose matrices generate a solvable Lie algebra possesses a quadratic common Lyapunov function, which implies that the corresponding switched linear system is exponentially stable for arbitrary switching. In this paper we prove that the same properties hold under the weaker condition that the Lie algebra generated by given matrices can be decomposed into a sum of a solvable ideal and a subalgebra with a compact Lie group. The corresponding local stability result for nonlinear switched systems is also established. Moreover, we demonstrate that if a Lie algebra fails to satisfy the above condition, then it can be generated by a family of stable matrices such that the corresponding switched linear system is not stable. Relevant facts from the theory of Lie algebras are collected at the end of the paper for easy reference.