Topological Constructs for Automatic Reconfiguration of Polymorphic Control Systems
Topological Constructs for Automatic Reconfiguration of Polymorphic Control Systems
复制标题
多态控制系统自动重构的拓扑结构
作者：
C. Ippolito;K. Al
分布式技术作为实时控制的可靠基础设施的出现，使新一代的分布式即插即用控制架构和方法成为可能;越来越常见的是跨传统系统边界配置的控制系统公式，这些公式利用分布式遥感、处理和致动。拓扑控制结构的形式化，允许自主重新配置在一个不受约束的拓扑结构的分布式系统架构，以提高复合系统所表现出的弹性和适应水平的承诺，提供控制器，表现出更高的弹性故障和不确定性，并通过更好地利用可用资源提高性能。这种形式化使得能够实现产生多态控制系统的控制结构：这样的系统可以及时地从根本上重构以优化控制系统拓扑，该控制系统拓扑在具有不同的个体系统目标的多个异构系统之间共享资源，以利用时间拓扑可能性，从而随着复合系统随时间的推移而演变并且资源的可用性改变而相应地重构。自主重构将增加系统对组件故障的弹性，使系统能够利用临时配置的可能性，以降低目标成本，并提供适应性下的不确定性。本文介绍了一种拓扑公式来模拟域的分布式即插即用控制系统，并演示了其应用程序的自主多车辆控制问题。
The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control system formulations configured across traditional system boundaries that utilize distributed remote sensing, processing, and actuation. The formalization of topological control constructs that permit autonomous reconfiguration in an unrestrained topology over distributed system architectures to enhance the level of resilience and adaptation demonstrated by composite systems has the promise of providing controllers that demonstrate increased resilience to failure and uncertainty, and increased performance by better utilization of available resources. This formalization enables the realization of control structures that give rise to polymorphic control systems: such systems can fundamentally restructure in a timely manner to optimize control system topologies that share resources across multiple heterogeneous systems with disparate individual system goals to take advantage of temporal topological possibilities, restructuring accordingly as the composite systems evolve over time and the availability of resources change. Autonomous reconfiguration would increase system resilience to component-failure, enable systems to exploit temporary configuration possibilities to decrease objective costs, and provide adaptability under the face of uncertainty. This paper introduces a topological formulation to model the domain of distributed plug-and-play control systems and demonstrates its application to an autonomous multi-vehicle control problem.