Layered Control Architectures for Complex Networked Systems

点击翻译按钮获取中文摘要

Future embedded real time control systems will increasingly be wireless, distributed, large-scale, and will be inherently hybrid, combining discrete or digital components with continuous time nonlinear dynamics. The complexity of such networked systems presents new challenges that lie at the confluence of communication, computing, and control. In this proposal we will investigate the design and analysis of networked real-time control systems treating complexity, delays, reliability, and other issues. Our goal is to develop control strategies for networked control systems that are application independent and enable the convergence of sensing and actuation with communication and computing. Potential applications of our results include autonomous vehicles and autonomous locomotion systems, remote construction, remote surgery, work in hazardous and remote environments, surveillance, search and rescue robots, haptic devices, and distance education. Our research will focus on the development of new theoretical tools for analysis and control of networked systems with time-varying delays. On the implementation side, we will develop proof-of concept type experiments on in-house designed and built systems, including networks of remotely controllable cars and robots.