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Class notes: AA599: Networked Dynamic Systems

AA599: Class Projects

Class website:


Homework 1 (Due April 24): All exercises for Chapter 2 in the notes; 2.12 might be a bit difficult, so it is optional.

Homework 2 (Due May 8): 3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.9

Homework 3 (Due May 22): 4.1, 4.2, 4.3, 4.4, 4.5, 4.6 (optional), and

a) implement the proposed controller in section 7.2.3 of the notes (chapter 7 of the notes called "formation control") for the double integrator model in 2-dimension for a group of five nodes- plot the performance of the controller for 2 representative z_{r} and zdot_{r} and two choices of undirected graphs.

b) Implement the control law proposed on page 99, equation 22, of the paper "Oscillator Models and Collective Motion" (linked on the wiki page) for five unicylces. In particular, check the behavior of the collective for different signs of the gain k_1 and undirected graphs.

Homework 4: homework4.pdf


Invited Lecture (May 8): Professor Eric Klavins (EE/UW)


This is what have been doing so far: motivated the notion of "network" in the realm of dynamic systems, talked about how they come up, i.e., relative sensing and inter-agent communication, etc. Then we abstracted the network as a graph, and we explore some properties of the graph, its connectedness, existence of spanning trees, etc. Then we associated matrices to graphs and looked at the eigenvalues of these matrices. We identified how the eigenvalues of these matrices are related to the structural properties of the underlying network.

Following our introduction to graph theory and also the linear-algebraic way of looking at networks, we considered a simple first order dynamic system on graphs. This dynamics is known as the agreement protocol.

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Page last modified on September 16, 2008, at 10:59 AM