Mr. Kamal Bouyoucef Profile

Kamal Bouyoucef

at Concordia Univ

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Proceedings Article | 1 May 2007 Paper

A network-centric robust resource allocation strategy for unmanned systems: stability analysis

K. Bouyoucef, K. Khorasani

Proceedings Volume 6578, 65780V (2007) https://doi.org/10.1117/12.720048

KEYWORDS: Sensors, Actuators, Switching, Unmanned systems, Control systems, Switches, Systems modeling, Nonlinear control, Telecommunications, Time metrology

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It is widely understood that communication is a critical technological factor in designing autonomous unmanned networks consisting of a large number of heterogeneous nodes that may be configured in ad-hoc fashions and incorporating intricate architectures. In fact, one of the challenges in this field is to recognize the entire network as a heterogenous collection of physical and information systems with complicated interconnections and interactions. Using high data rates that are essential for real-time interactive command and control systems, these networks require utilization of optimal integration of local feedback loops into a scheduling and resource allocation systems. This integration becomes particularly problematic in presence of latencies and delays. Given that dynamics of a network of unmanned systems could easily become unstable depending on interconnections among nodes, in this paper stability of the resulting time-delayed controlled network based on configuration changes is studied. We also formally investigate sufficient conditions for our proposed robust resource allocation strategies to be able to cope with these interconnections and time-delays in an optimal fashion. Our time-delayed dependent network consists of three nodes that can be configured into different architectures. To model our traffic and network we use a fluid flow model that is of low order and simpler than a detailed Markovian queueing probabilistic model. Using sliding mode-based variable structure control (SM-VSC) techniques that enjoy robustness capabilities, we design on the basis of an inaccurate/uncertain model our proposed robust nonlinear feedback-based control approaches. The results presented are analyzed analytically to guarantee stability of known/unknown time-delayed dependent network of unmanned systems for different configurations.

Proceedings Article | 26 May 2005 Paper

A network-centric input-output feedback linearization-based control strategy for unmanned systems

K. Bouyoucef, K. Khorasani

Proceedings Volume 5820, (2005) https://doi.org/10.1117/12.603274

KEYWORDS: Control systems, Actuators, Feedback control, Sensors, Device simulation, Switches, Unmanned systems, Systems modeling, Nonlinear control, Network architectures

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Large scale unmanned networks consisting of a number of heterogeneous nodes that may be configured in ad-hoc fashions and incorporating complicated architectures result in challenging problems for design of appropriate control and resource allocation optimization techniques. The problem is further compounded by the fact that designing appropriate network control methodologies subject to bandwidth, latencies and computational resources for these network-centric systems are highly non-trivial. In this paper, we only investigate one of a number of critical issues that are of interest in this domain, namely the problem of congestion control of a network that consists of three nodes that can be configured into different architectures. This study shows that depending on the interconnections between the network nodes the dynamics of the resulting closed-loop system can change considerably so that the unmanned system could become even unstable and unmanageable. Therefore, a robust control strategy is required to be able to cope with any configuration changes and to be able to address the resource allocation problem subject to the propagation delays and latencies. For sake of comparative evaluation, we first implement a standard PID control scheme which is shown to lack sufficient capability for achieving the desired performance requirements. Subsequently, a nonlinear control scheme is proposed to resolve the limitation of sensitivity of the closed-loop system to propagation delays. The proposed strategy is based on a well-known input-output feedback linearization approach that is shown to achieve an appreciable improvement in the performance of the closed-loop unmanned network and which is also less sensitive to the network propagation delays.

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