This book is primarily a research monograph that presents in a unified man ner some recent research on a class of hybrid dynamical systems (HDS). The book is intended both for researchers and advanced postgraduate stu dents working in the areas of control engineering, theoretical computer science, or applied mathematics and with an interest in the emerging field of hybrid dynamical systems. The book assumes competence in the basic mathematical techniques of modern control theory. The material presented in this book derives from a period of fruitful research collaboration between the authors that began in 1994 and is still ongoing. Some of the material contained herein has appeared as isolated results in journal papers and conference proceedings. This work presents this material in an integrated and coherent manner and also presents many new results. Much of the material arose from joint work with students and colleagues, and the authors wish to acknowledge the major contributions made by Ian Petersen, Efstratios Skafidas, Valery Ugrinovskii, David Cook, Iven Mareels, and Bill Moran. There is currently no precise definition of a hybrid dynamical system; however, in broad terms it is a dynamical system that involves a mixture of discrete-valued and continuous-valued variables. Since the early 1990s, a bewildering array of results have appeared under the umbrella of HDS, ranging from the analysis of elementary on-off control systems to sophis ticated mathematical logic-based descriptions of large real-time software systems.

This is a unified collection of important recent results for the design of robust controllers for uncertain systems, primarily based on H8 control theory or its stochastic counterpart, risk sensitive control theory. Two practical applications are used to illustrate the methods throughout.

This book presents a systematic theory of estimation and control over communication networks. It develops a theory that utilizes communications, control, information and dynamical systems theory motivated and applied to advanced networking scenarios. The book establishes theoretically rich and practically important connections among modern control theory, Shannon information theory, and entropy theory of dynamical systems originated in the work of Kolmogorov.

This self-contained monograph covers the latest achievements in the area. It contains many real-world applications and the presentation is accessible.

The area of hybrid dynamical systems (HDS) represents a difficult and exciting challenge to control engineers and is referred to as "the control theory of tomorrow" because of its future potential for solving problems. This relatively new discipline bridges control engineering, mathematics, and computer science. There is now an emerging literature on this topic describing a number of mathematical models, heuristic algorithms, and stability criteria. However, presently there is no systematic theory of HDS. "Hybrid Dynamical Systems" focuses on a comprehensive development of HDS theory and integrates results established by the authors.

The work is a self-contained informative text/reference, covering several theoretically interesting and practically significant problems concerning the use of switched controllers and examining the sensor scheduling problem. The emphasis is on classes of uncertain systems as models for HDS.

Features and topics:

* Focuses on the design of robust HDS in a logical and clear manner

* Applies the hybrid control systems framework to two classical robust control problems: design of an optimal stable controller for a linear system and simultaneous stabilization of a collection of plants

* Presents a detailed treatment of stability and H-infinity control problems for a class of HDS

* Covers recent original results with complete mathematically rigorous proofs

Researchers and postgraduate students in control engineering, applied mathematics, and theoretical computer science will find this book covers the latest results on this important area of research. Advanced engineering practitioners and applied researchers working in areas of controlengineering, signal processing, communications, and fault detection will find this book an up-to-date resource.

This book provides a unified collection of important, recent results for the design of robust controllers for uncertain systems. Most of the results presented are based on H? control theory, or its stochastic counterpart, risk sensitive control theory.Central to the philosophy of the book is the notion of an uncertain system. Uncertain systems are considered using several different uncertainty modeling schemes. These include norm bounded uncertainty, integral quadratic constraint (IQC) uncertainty and a number of stochastic uncertainty descriptions. In particular, the authors examine stochastic uncertain systems in which the uncertainty is outlined by a stochastic version of the IQC uncertainty description.For each class of uncertain systems covered in the book, corresponding robust control problems are defined and solutions discussed.

Hybrid dynamical systems, both continuous and discrete dynamics and variables, have attracted considerable interest recently. This emerging area is found at the interface of control theory and computer engineering, focusing on the analogue and digital aspects of systems and devices. They are essential for advances in modern digital- controller technology. "Qualitative Theory of Hybrid Dynamical Systems" provides a thorough development and systematic presentation of the foundations and framework for hybrid dynamical systems. The presentation offers an accessible, but precise, development of the mathematical models, conditions for existence of limit cycles, and criteria of their stability. The book largely concentrates on the case of discretely controlled continuous-time systems and their relevance for modeling aspects of flexible manufacturing systems and dynamically routed queuing networks. Features and topics: *differential automata*development and use of the concept "cyclic linear differential automata" (CLDA)*switched single-server flow networks coverage*application to specific models of manufacturing systems and queuing networks*select collection of open problems for the subject*self-contained presentation of topics, with the necessary background This new book is an excellent resource for the study and analysis of hybrid dynamical systems used in systems and control engineering. Researchers, postgraduates and professionals in control engineering and computer engineering will find the book an up-to-date development of the relevant new concepts and tools.

Wireless Communication Networks Supported by Autonomous UAVs and Mobile Ground Robots covers wireless sensor networks and cellular networks. For wireless sensor networks, the book presents approaches using mobile robots or UAVs to collect sensory data from sensor nodes. For cellular networks, it discusses the approaches to using UAVs to work as aerial base stations to serve cellular users. In addition, the book covers the challenges involved in these two networks, existing approaches (e.g., how to use the public transportation vehicles to play the role of mobile sinks to collect sensory data from sensor nodes), and potential methods to address open questions.

Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.

A significant shortcoming of the state space control theory that emerged in the 1960s was its lack of concern for the issue of robustness. However, in the design of feedback control systems, robustness is a critical issue. These facts led to great activity in the research area of robust control theory. One of the major developments of modern control theory was the Kalman Filter and hence the development of a robust version of the Kalman Filter has become an active area of research. Although the issue of robustness in filtering is not as critical as in feedback control (where there is always the issue of instability to worry about), research on robust filtering and state estimation has remained very active in recent years. However, although numerous books have appeared on the topic of Kalman filtering, this book is one of the first to appear on robust Kalman filtering. Most of the material presented in this book derives from a period of research collaboration between the authors from 1992 to 1994. However, its origins go back earlier than that. The first author (LR. P. ) became in terested in problems of robust filtering through his research collaboration with Dr. Duncan McFarlane. At this time, Dr. McFarlane was employed at the Melbourne Research Laboratories ofBHP Ltd., a large Australian min erals, resources, and steel processing company."

The emerging area of hybrid dynamical systems lies at the interface of control theory and computer science, i.e., analogue 'and' digital aspects of systems. This new monograph presents state-of-the-art concepts, methods and tools for analyzing and describing hybrid dynamical systems.