CPS: Frontier: Collaborative Research: Correct-by-Design Control Software Synthesis for Highly Dynamic Systems

CPS：前沿：协作研究：高动态系统的设计正确控制软件综合

基本信息

批准号：
1724457
负责人：
Aaron Ames
金额：
$ 49.36万
依托单位：
California Institute of Technology
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-01-01 至 2018-03-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1724457&HistoricalAwards=false
关键词：
CPS Frontier Collaborative Research Correct

项目摘要

This CPS Frontiers project addresses highly dynamic Cyber-Physical Systems (CPSs), understood as systems where a computing delay of a few milliseconds or an incorrectly computed response to a disturbance can lead to catastrophic consequences. Such is the case of cars losing traction when cornering at high speed, unmanned air vehicles performing critical maneuvers such as landing, or disaster and rescue response bipedal robots rushing through the rubble to collect information or save human lives. The preceding examples currently share a common element: the design of their control software is made possible by extensive experience, laborious testing and fine tuning of parameters, and yet, the resulting closed-loop system has no formal guarantees of meeting specifications.The vision of the project is to provide a methodology that allows for complex and dynamic CPSs to meet real-world requirements in an efficient and robust way through the formal synthesis of control software. The research is developing a formal framework for correct-by-construction control software synthesis for highly dynamic CPSs with broad applications to automotive safety systems, prostheses, exoskeletons, aerospace systems, manufacturing, and legged robotics. The design methodology developed here will improve the competitiveness of segments of industry that require a tight integration between hardware and highly advanced control software such as: automotive (dynamic stability and control), aerospace (UAVs), medical (prosthetics, orthotics, and exoskeleton design) and robotics (legged locomotion). To enhance the impact of these efforts, the PIs are developing interdisciplinary teaching materials to be made freely available and disseminating their work to a broad audience.

该CPS前沿项目解决了高度动态的网络物理系统（CPS），被理解为系统，其中几毫秒的计算延迟或对扰动的不正确计算的响应可能会导致灾难性后果。当高速转弯时，汽车失去牵引力，无人驾驶的空气车进行关键动作，例如着陆或灾难和救援反应，双方机器人冲过瓦砾，以收集信息或挽救人类的生命。前面的示例目前共有一个共同的要素：通过丰富的经验，费力的测试和对参数进行微调使其控制软件的设计成为可能，但是，由此产生的闭环系统没有正式的保证来满足规格。该项目的愿景旨在提供一种可以提供复杂和动态的CPS来满足现实和稳健方式通过正式合成来满足现实范围的方法。该研究正在开发一个正式的框架，用于针对高度动态的CPS纠正控制软件的合成，并在汽车安全系统，假体，外骨骼，航空系统，制造业和腿部机器人技术中进行广泛应用。此处开发的设计方法将提高行业领域的竞争力，这些细分市场需要在硬件和高级控制软件之间进行紧密整合，例如：汽车（动态稳定性和控制），航空航天（UAVS），医学，矫形器，矫形器和外oxoskeleton Design）和Robotics（Legged lobomotion）。为了增强这些努力的影响，PI正在开发跨学科的教材，以免费获得并将其作品传播给广泛的受众。

项目成果

期刊论文数量（4）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

A Scalable Safety Critical Control Framework for Nonlinear Systems

非线性系统的可扩展安全关键控制框架

DOI：
10.1109/access.2020.3025248
发表时间：
2020
期刊：
IEEE Access
影响因子：
3.9
作者：
Gurriet, Thomas;Mote, Mark;Singletary, Andrew;Nilsson, Petter;Feron, Eric;Ames, Aaron D.
通讯作者：
Ames, Aaron D.

An Inverse Dynamics Approach to Control Lyapunov Functions

控制李亚普诺夫函数的逆动力学方法