Advanced control of network interconnected systems for high performance collaborative tasks

网络互连系统的高级控制，以实现高性能协作任务

• 批准号: 327193-2011
• 负责人: Pan, YaJun
• 金额: $ 1.68万
• 依托单位: Dalhousie University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=571944
• 关键词: Advanced; control; network; interconnected; systems

This project targets on achieving high performance collaborative tasks which are highly demanding, in application areas such as aerospace, military applications, manufacturing, transportation and in health care services. Advanced control of network interconnected systems for collaborative tasks, such as multi-agent systems and multilateral teleoperation systems, addresses one of the recognized major integrated challenges and opportunities facing control researchers. Previous research in our group has been successful on developing various robust nonlinear control approaches for remotely controlled systems in which one communication loop is involved in the system. Instead of remotely operating a single system, this proposal is to deal with a system of subsystems interconnected over networks. Note that existing work focuses on scalar agent without dynamics or point-mass model only, centralized control architecture and the entire system operated in a reliable network environment. There are many issues have not been well addressed such as dynamics, coordination mechanism to environment changes or disturbance, imperfect sensors, communication constraints, and performance evaluation index. The short term goals of this proposal are to: build a framework for the control and robust estimation strategies of interconnected systems over networks for high performance collaborative tasks; develop a new theoretical control architecture for multiple teleoperation systems with experimental studies; apply the theoretical work to multiple Pioneer mobile robots and car-like robotic vehicles in my lab addressing various constraints in sensors, communications and kinematics/dynamics. The proposed research program covers the theoretical development on the decentralized control design for interconnected systems over networks and its application to multiple collaborative autonomous robotic systems, and the advanced control of multilateral teleoperation systems with collaborative tasks.

该项目的目标是在航空航天、军事应用、制造、运输和医疗保健服务等应用领域实现要求很高的高性能协作任务。用于协作任务的网络互连系统的高级控制，例如多代理系统和多边远程操作系统，解决了控制研究人员面临的公认的主要综合挑战和机遇之一。我们小组之前的研究已经成功地为远程控制系统开发了各种鲁棒的非线性控制方法，其中系统中涉及一个通信回路。该提案不是远程操作单个系统，而是处理通过网络互连的子系统系统。请注意，现有的工作主要集中在没有动力学或仅点质量模型的标量代理、集中控制架构以及在可靠的网络环境中运行的整个系统。动力学、环境变化或扰动的协调机制、传感器不完善、通信约束、性能评价指标等许多问题尚未得到很好的解决。 该提案的短期目标是：建立一个框架，用于网络互连系统的控制和鲁棒估计策略，以实现高性能协作任务；通过实验研究为多个远程操作系统开发新的理论控制架构；将理论工作应用于我实验室的多个先锋移动机器人和类汽车机器人车辆，解决传感器、通信和运动学/动力学方面的各种限制。拟议的研究计划涵盖网络互连系统的分散控制设计的理论发展及其在多个协作自主机器人系统中的应用，以及具有协作任务的多边远程操作系统的高级控制。