Motion and force control of multiple robotic manipulators
Automatica (Journal of IFAC)
End-to-end congestion control schemes: utility functions, random losses and ECN marks
IEEE/ACM Transactions on Networking (TON)
Convex Optimization
Delayed stability and performance of distributed congestion control
Proceedings of the 2004 conference on Applications, technologies, architectures, and protocols for computer communications
Congestion control for high performance, stability, and fairness in general networks
IEEE/ACM Transactions on Networking (TON)
Power Control for Multicell CDMA Wireless Networks: A Team Optimization Approach
WIOPT '05 Proceedings of the Third International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks
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Control allocation problem is the key of cooperation control systems and has attracted a lot of attention of researchers. This paper proposes a nonlinear control allocation framework to provide a common optimal solution for decentralized cooperation control systems. By decomposing the control allocation problem into static optimal problem and dynamic stabilizing/tracking problem, an effective way to design the allocation controller and feedback control law is given in the paper. The allocation controller is designed to realize some control strategy and the feedback control law provides asymptotic stability for the entire framework. Also, they are implemented decentralizedly and can adapt to complex nonlinear control allocation scenes. Thus it is easy to apply and is very suitable for various complex decentralized control applications such as multiple robots cooperation, network congestion control, supply and demand equilibrium control of free market and so on. In addition, it seems to be a promise method to solve large-scale optimal control problems.