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.

该合作研究计划将通过结合现实的车辆和通信模型以及弹性分散估计和控制策略，显着提高协作多车辆系统的自主导航和控制能力。例如，研究结果将适用于微型飞行器群和航天器编队。强大的分析技术可以控制单个车辆、表示网络系统的交互、适应通信延迟并解释不确定性。该项目将解决阻碍将这些不同结果整合到统一框架中的重大技术障碍。利用大量互联车辆执行实际操作的能力在勘探、搜索和救援、农业、天气监测、监视、卫星大地测量和环境监测等应用中越来越有用，甚至是必要的。综合教育工作包括向高中生演示机器人车辆和多智能体网络控制模拟。当前的多车辆估计和控制设计方法需要强大的简化假设，例如通过点质量或单积分器或双积分器对单个车辆动力学进行建模；假设所有车辆具有相同的动力学和不确定性特征；并忽略通信延迟，或假设它们是已知的或恒定的。由此产生的理想化控制器在现实条件下功能有限。该项目致力于通过使用鲁棒、非线性和混合控制理论、图论和几何力学等多种技术来克服这些限制。多车辆系统通过独特的、全局的、无奇点的表示来描述，作为在特殊欧几里得群 SE(3) 的单独副本上演化的异构刚体网络，即在刚性平移和旋转的空间上在三个维度上。车辆间通信拓扑由具有异构、依赖于连接的时间延迟的时变图指定。全局、稳健且有弹性的估计和控制方案将基于 Lyapunov-Morse-Krasovskii 函数方法，并使用分散算法实现，也就是说，每辆车只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进行验证，并将推进分散估计和控制的系统理论基础，并实现更强大、更强大和自主的多车辆系统。