Adaptive multi-level control for variable-hierarchy-structure hierarchical systems

Abstract

A hierarchical multiple-level control system approach comprising subsystems, each with their own control system, that can operate in isolation but—when interconnected or networked with additional subsystems associated with other hierarchical levels, assume their respective role in a hierarchy. Applications of the implementation include, for example, hierarchical cooling and energy harvesting systems for data centers and other applications wherein various elements in the hierarchy can be introduced and/or removed in arbitrary order. Additional applications of the implementation include networked high-reliability control systems, robotics systems, networked sensor systems, adaptive communications networks, high-reliability communications networks, and command-and-control applications. Provisions are included in the hierarchical and/or subsystem control systems for model-based control, Proportional-Integral-Derivative (PID) controllers, fractional order controllers, saturation compensators, hysteretic controllers, sliding mode controllers, and other approaches. The dynamics within various subsystems can comprise or be structured as linear systems, bilinear systems, nonlinear systems, hysteretic systems, time-delay systems, fractional order systems, etc.