Optimization and Control of Cyber-Physical Vehicle Systems.
Optimization and Control of Cyber-Physical Vehicle Systems.
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DOI：
10.3390/s150923020
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发表时间：
2015-09-11
期刊：
影响因子：
--
通讯作者：
Atkins EM
中科院分区：
文献类型：
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作者：
Bradley JM;Atkins EM
信息物理系统是由计算、通信和物理要素紧密结合而成的系统。医疗设备、建筑、移动设备、机器人、运输和能源系统可以从CPS协同设计和优化技术中受益。由于实时计算、控制和人工智能的进步，信息物理车辆系统（CPVSs）正在迅速发展。多学科或多目标设计优化最大化了CPS的效率、能力和安全性，而在线调节使车辆能够对干扰、建模误差和不确定性做出响应。CPVS优化发生在设计时和运行时。本文研究了网络系统和物理系统的运行时协同优化或协同优化问题，这些问题历来被单独考虑。当以响应网络和物理系统需求的方式使用网络和物理资源时，运行时CPVS也会受到合作监管或共同监管。本文综述了在移动机器人和车辆系统应用的协同优化和协同调节方案中考虑网络和物理资源的研究。时变采样模式，传感器调度，随时控制，反馈调度，任务和运动规划和资源共享进行了研究。
A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.