U.S.-France Cooperative Research: Passivity Based Control of Networked Control Systems

美法合作研究：网络控制系统的无源控制

• 批准号: 0128656
• 负责人: Mark Spong
• 金额: $ 1.8万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-02-15 至 2006-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0128656&HistoricalAwards=false
• 关键词: U.S.; France; Cooperative; Research; Passivity

0128656SpongThis three-year award supports US-France collaboration in control systems between Mark W. Spong of the University of Illinois and Romeo Ortega of the Signal and Systems Laboratory at SUPELEC, a French center for research in electrical engineering. The objectives are to investigate passive nonlinear control of networked control systems, in particular, systems involving bilateral remote operation (teleoperation) over unreliable communication networks. The problem is motivated by interest in wireless communication in embedded real time control systems and the use of the Internet as a communication medium in teleoperated and networked control systems. The research will advanced understanding of how to design and utilize mobile, intelligent robotic systems with local intelligence for communication over unreliable networks with other robots and human operators. The researchers plan to answer: How sensory, command and control information are shared over such networks and how much local intelligence is needed to guarantee performance and stability when network communications are degraded. The US investigator brings to this collaboration expertise in passivity-based networked control systems. This is complemented by French theoretical expertise in nonlinear control and robotics. Potential applications of their results include work in hazardous and remote environments, surveillance, search, and rescue robots, autonomous vehicles and autonomous locomotion systems, haptic devices, remote construction, and remote surgery. This award represents the US side of parallel proposals to the NSF and the CNRS. NSF will cover travel funds and living expenses for the US investigator. The CNRS will support visits by French researchers and graduate students to the United States.

0128656Spong这三年奖项支持伊利诺伊大学的Mark W. Spong与法国电气工程研究中心Supelec的信号和系统实验室的Romeo Ortega之间的控制系统中的美国法人合作。这些目的是研究对网络控制系统的被动非线性控制，特别是涉及双边远程操作（远程操作）的系统，而不是不可靠的通信网络。 该问题是出于对嵌入式实时控制系统中无线通信的兴趣以及将Internet用作远程操作和网络控制系统中的通信媒介的兴趣。 这项研究将对如何设计和利用具有本地智能的移动，智能机器人系统进行深入了解，以与其他机器人和人类操作员不可靠的网络进行通信。 研究人员计划回答：在此类网络上如何共享感官，指挥和控制信息，以及当网络通信降低时需要多少本地情报来确保性能和稳定性。 美国研究人员将基于被动性的网络控制系统中的合作专业知识带入了这一协作专业知识。 法国理论专业知识在非线性控制和机器人技术方面得到了补充。 其结果的潜在应用包括在危险和偏远环境中的工作，监视，搜索和救援机器人，自动驾驶汽车和自动驾驶机车系统，触觉设备，远程结构和远程手术。该奖项代表了NSF和CNR的平行建议的美国。 NSF将为美国调查员支付旅行资金和生活费用。 中枢神经系统将支持法国研究人员和研究生到美国的访问。