Collaborative Research: Resilient Decentralized Estimation and Control for Cooperative Rigid Body Multivehicle Systems

协作研究：协作刚体多车辆系统的弹性分散估计和控制

• 批准号: 1562051
• 负责人: Tansel Yucelen
• 金额: $ 25万
• 依托单位: Missouri University of Science and Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-01 至 2016-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1562051&HistoricalAwards=false
• 关键词: Collaborative; Research; Resilient; Decentralized; Estimation

This collaborative research program will significantly advance autonomous navigation and control capabilities for cooperative multivehicle systems, by incorporating realistic vehicle and communication models, and resilient decentralized estimation and control strategies. The results will be applicable, for example, to swarms of micro air vehicles and formations of spacecraft. Powerful analytic techniques exist to control individual vehicles, to represent the interactions of networked systems, to accommodate communication delays, and to account for uncertainty. This project will address the substantial technical obstacles that stand in the way of integrating these various results in a unified framework. The ability to exploit large numbers of interconnected vehicles to perform practical operations is increasingly useful -- even necessary -- in applications including exploration, search and rescue, agriculture, weather monitoring, surveillance, satellite geodesy, and environmental monitoring. Integrated educational efforts include demonstrations to high school students of robotic vehicles and multi-agent network control simulations. Current approaches to multi-vehicle estimation and control designs invoke strong simplifying assumptions, such as modeling individual vehicle dynamics by a point mass or by a single- or double-integrator; assuming that all vehicles have identical dynamics and uncertainty characterization; and neglecting communication delays, or assuming that they are known or constant. The resulting idealized controllers have limited functionality under real-world conditions. This project strives to overcome these limitations by using diverse techniques from robust, nonlinear, and hybrid control theory, graph theory, and geometric mechanics. The multivehicle system is described by a unique, global, and singularity-free representation, as a network of heterogeneous rigid bodies evolving on separate copies of the special Euclidean group SE(3) -- that is, on the space of rigid translations and rotations in three dimensions. The inter-vehicle communication topology is specified by a time-varying graph with heterogeneous, connection-dependent time delay. Global, robust and resilient estimation and control schemes will be based on a Lyapunov-Morse-Krasovskii functional approach, and implemented using decentralized algorithms, that is, each vehicle will require only local information to compute its control action. The results will be validated with laboratory-scale experiments, and will advance the system-theoretical foundations of decentralized estimation and control, and enable more capable, robust, and autonomous multi-vehicle systems.

该协作研究计划将通过合并现实的车辆和通信模型以及有弹性的分散估算和控制策略来大大提高合作多旋风系统的自主导航和控制功能。结果将适用于众多微型空气车和航天器的地层。存在强大的分析技术来控制单个车辆，以表示网络系统的相互作用，以适应沟通延迟并解释不确定性。该项目将解决将这些各种结果整合到统一框架中的实质技术障碍。利用大量相互联系的车辆进行实际操作的能力越来越有用，甚至是必要的，包括勘探，搜索和救援，农业，天气监测，监视，卫星地理位置和环境监测。综合的教育工作包括向高中学生展示机器人车和多代理网络控制模拟。当前的多车估计和控制设计的方法调用了强大的简化假设，例如通过点质量或单个或双积分器对单个车辆动力学进行建模；假设所有车辆都具有相同的动态和不确定性表征；忽略沟通延迟，或假设它们是已知或恒定的。在实际条件下，由此产生的理想控制器的功能有限。该项目努力通过使用鲁棒，非线性和混合控制理论，图形论和几何力学的各种技术来克服这些局限性。多旋风系统由独特的，全局和无奇异性表示形式描述为在特殊欧几里得组SE（3）的单独副本上演变的异质刚性体的网络（3），即在三维中的刚性翻译和旋转的空间上。车间通信拓扑由具有异质，连接依赖的时间延迟的时变图指定。全球，鲁棒和弹性的估计和控制方案将基于Lyapunov-Morse-Morse-Krasovskii功能方法，并使用分散算法实施，即，每辆车仅需要本地信息来计算其控制动作。结果将通过实验室规模的实验来验证，并将推进分散估计和控制的系统理论基础，并启用更有能力，健壮和自动的多车辆系统。