Table Of Content
Sequential decomposition of sequential dynamic teams:
applications to real-time communication and
networked control systems
by
Aditya Mahajan
A dissertation submitted in the partial fulfillment
of the requirements for the degree of
Doctor of Philosophy
(Electrical Engineering:Systems)
in the University of Michigan
2008
Doctoral Committee:
Professor Demosthenis Teneketzis, Chair
Professor Jeffrey C. Lagarias
Associate Professor Achilleas Anastasopoulos
Associate Professor S. Sandeep Pradhan
© Aditya Mahajan,
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To my parents
ii
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Acknowledgement
I entered the Ph.D. program five years ago certain that I wanted to do research
incommunicationandequallycertainthatIdidnotwanttodoanythingrelatedto
control. IfinishmyPh.D.uncertainaboutthedistinctionbetweencontrolandcom-
municationandwonderingwhytheyaretaughtseparately. Iwouldliketoexpress
my sincerely gratitude to my advisor, Professor Demos Teneketzis, for inculcating
this unified viewpoint of systems. His experience and unique perspective on the
history and philosophy of various areas taught me more than what I could have
learnt on my own. I would always cherish the thoughtful and engrossing discus-
sionsthatIhadwithhim.
I am grateful to my thesis committee for their guidance and encouragement. I
thank Professor Achilleas Anastasopoulos for showing excitement about my work
when I was uncertain about its merit. He helped me understand how real-time
communication compares with other results in coding theory and also provided
calmandrationaladviceonnumerousoccasions. IthankProfessorSandeepPrad-
han for helping me explain the practical significance of my work. His insistence
on understanding the vague statements in early drafts of my papers resulted in
a cleaner exposition of my results. I am grateful to Professor Jeffrey Lagarias for
providing various suggestions on improving the presentation of my work. I am
also thankful to my other instructors at Michigan, Professors Stéphane Lafortune,
MingyanLiu,SerapSavari,andKimWinickforenrichingmyacademicexperience.
IwouldliketothankShrutivandanaSharma,AshutoshNayyarandDavidShu-
mann for many useful discussions and helpful suggestion. I am also thankful to
my friends who made my stay in Ann Arbor a memorable experience, in particu-
lar, to Dinesh Krithivasan, Ramji Venkataramanan, Shivakumar Natarajan, Raghu
Kainkaryam, Naveen Gupta, Manoj Rajagopalan, and Rohan Rao. I would also to
thankeveryoneinthequizclubandthevolleyballgroupforallthefun.
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Finally,Iwishtoexpressmysincerestgratitudetomyfamilywhohavealways
provided unconditional love, support, and encouragement. My parents took deep
interestinmyeducationandtaughtmehowtothinkindependently.Unfortunately,
my father passed away in October, when I was working on this research. His
unselfishness,sincerity,honesty,andhardworkwillalwaysbeaninspirationtome.
Mymother’ssacrifices,strengthandconvictionduringtheseyearswereinvaluable
inhelpingmecompletemythesis.Ithankmybother,Ankur,foralwaysmanaging
tomakemesmile.
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Table of Contents
Dedication ........................................................ ii
Acknowledgement ................................................. iii
ListofFigures .................................................... vii
ListofTables .................................................... viii
ListofAcronyms .................................................. ix
Abstract ........................................................... x
Chapters
Introduction ...................................................
. Motivation .............................................
. Classificationofmulti-agentsystems ......................
. Scopeofthisthesis ......................................
. Mainideasforoptimaldesignofdynamicteams ............
. Organizationofthethesis ...............................
. Contributionofthethesis ...............................
Optimaldesignoftwo-agentsystems ............................
. Ageneralfinite-horizontwo-agentproblem ...............
. GlobalOptimization ...................................
. Anexample—real-timecommunication ..................
. Thetimehomogeneoussystem—thefourvariations ........
. Time-homogeneoussystem—Variation .................
. Time-homogeneoussystem—Variation .................
. Time-homogeneoussystem—Variation .................
. Intuitionbehindthechoiceofinformationstate ............
. Conclusion ...........................................
Real-timecommunication ......................................
. Introduction ..........................................
. Model:real-timecommunicationovernoisychannels ....
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. Model:real-timecommunicationovernoiselesschannels .
. Model : real-time communication over noisy
channelswithnoisyfeedback ...........................
. Model : real-time communication over noisy
channelswithnoiselessfeedback ........................
. Comparison with the philosophy of information
theoryandcodingtheory ...............................
. Conclusion ...........................................
Optimalfeedbackcontrolovernoisycommunication ..............
. Introduction ..........................................
. OptimalperformanceofNCS ............................
. Conclusion ...........................................
Conclusion ..................................................
. Reflections ...........................................
. FutureDirections .....................................
. Finalthoughts ........................................
References .......................................................
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List of Figures
. Classification of multi-agent systems. In this thesis we are
interested in sequential dynamic teams with non-classical
informationstructures. ..........................................
. Ageneraltwo-agentsystem .....................................
. Sequentialorderingofthesystemvariablesforthetwo-agentsystem .
. Fourmodelsforpoint-to-pointreal-timecommunicationsystems ....
. Real-timecommunicationovernoisyforwardchannel ..............
. Real-timecommunicationovernoiselessforwardchannel ...........
. Real-timecommunicationovernoisyforwardandbackwardchannels
. Real-time communication over noisy forward and noiseless
backwardchannels .............................................
. Asimpletwo-nodenetworkedcontrolsystem .....................
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List of Tables
. Model as an instance of two-agent team. In model , the
Markov source is the plant, the encoder is agent , and the
receiverisagent. .............................................
. Model as an instance of two-agent team. In model , the
Markov source and the backward channel are the plant, the
encoderisagent,andthereceiverisagent. .....................
. The simple NCS model as an instance of two-agent team. In the
NCS model, the plant and the backward channel corresponds to
the plant of two-agent team, the sensor corresponds to agent ,
andthecontrollercorrespondstoagent. .........................
viii
List of Acronyms
AWGN additivewhiteGaussiannoise
CPU centralprocessingunit
DMC discretememorylesschannel
LHS lefthandside
LQG linearquadraticGaussian
MANET mobilead-hocnetworks
MDP Markovdecisionprocess
NCS networkedcontrolsystem
PMF probabilitymassfunction
POMDP partiallyobservableMarkovdecisionprocess
RHS righthandside
UAV unmannedaerialvehicle
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Description:Sequential decomposition of sequential dynamic teams: applications to real-time communication and networked control systems by. Aditya Mahajan.
