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Baohua Yang

Publications and source records attributed to Baohua Yang.

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LazyCtrl: Scalable Network Control for Cloud Data Centers

The advent of software defined networking enables flexible, reliable and feature-rich control planes for data center networks. However, the tight coupling of centralized control and complete visibility leads to a wide range of issues among which scalability has risen to prominence. To address this, we present LazyCtrl, a novel hybrid control plane design for data center networks where network control is carried out by distributed control mechanisms inside independent groups of switches while complemented with a global controller. Our design is motivated by the observation that data center traffic is usually highly skewed and thus edge switches can be grouped according to traffic locality. LazyCtrl aims at bringing laziness to the global controller by dynamically devolving most of the control tasks to independent switch groups to process frequent intra-group events near datapaths while handling rare inter-group or other specified events by the controller. We implement LazyCtrl and build a prototype based on Open vSwich and Floodlight. Trace-driven experiments on our prototype show that an effective switch grouping is easy to maintain in multi-tenant clouds and the central controller can be significantly shielded by staying lazy, with its workload reduced by up to 82%.

cs.NI

Adaptive Zero Reaction Motion Control for Free-Floating Space Manipulators

This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is difficult to obtain a linear expression, which is the basis of the adaptive control. The main contribution of this paper is that we skillfully obtain such a linear expression, based on which, an adaptive version of the RNS-based controller (referred to as the adaptive zero reaction motion controller in the sequel) is developed at the velocity level, taking into account both the kinematic and dynamic uncertainties. It is shown that the proposed controller achieves both the spacecraft attitude regulation and end-effector trajectory tracking. The performance of the proposed adaptive controller is shown by numerical simulations with a planar 3-DOF (degree-of-freedom) space manipulator.

eess.SY