U.S.-France Cooperative Research: Passivity Based Control of Networked Control Systems

这项为期三年的奖项支持美国-法国在控制系统方面的合作，由伊利诺伊大学的Mark W. Spong和法国电气工程研究中心SUPELEC信号与系统实验室的Romeo Ortega合作。目标是研究网络控制系统的被动非线性控制，特别是涉及不可靠通信网络上的双边远程操作（遥操作）的系统。这个问题的动机是对嵌入式实时控制系统中的无线通信的兴趣，以及在远程操作和网络控制系统中使用Internet作为通信媒介。该研究将促进对如何设计和利用具有本地智能的移动智能机器人系统的理解，以便在不可靠的网络上与其他机器人和人类操作员进行通信。研究人员计划回答：如何在这样的网络上共享感知、指挥和控制信息，以及当网络通信退化时，需要多少本地智能来保证性能和稳定性。美国研究人员为此次合作带来了基于被动的网络控制系统方面的专业知识。这与法国在非线性控制和机器人技术方面的理论专长相辅相成。他们的研究结果的潜在应用包括危险和远程环境中的工作，监视，搜索和救援机器人，自动驾驶汽车和自主运动系统，触觉设备，远程施工和远程手术。该奖项代表了美国方面对NSF和CNRS的平行提案。美国国家科学基金会将支付美国研究者的旅费和生活费。CNRS将支持法国研究人员和研究生访问美国。

0128656SpongThis three-year award supports US-France collaboration in control systems between Mark W. Spong of the University of Illinois and Romeo Ortega of the Signal and Systems Laboratory at SUPELEC, a French center for research in electrical engineering. The objectives are to investigate passive nonlinear control of networked control systems, in particular, systems involving bilateral remote operation (teleoperation) over unreliable communication networks. The problem is motivated by interest in wireless communication in embedded real time control systems and the use of the Internet as a communication medium in teleoperated and networked control systems. The research will advanced understanding of how to design and utilize mobile, intelligent robotic systems with local intelligence for communication over unreliable networks with other robots and human operators. The researchers plan to answer: How sensory, command and control information are shared over such networks and how much local intelligence is needed to guarantee performance and stability when network communications are degraded. The US investigator brings to this collaboration expertise in passivity-based networked control systems. This is complemented by French theoretical expertise in nonlinear control and robotics. Potential applications of their results include work in hazardous and remote environments, surveillance, search, and rescue robots, autonomous vehicles and autonomous locomotion systems, haptic devices, remote construction, and remote surgery. This award represents the US side of parallel proposals to the NSF and the CNRS. NSF will cover travel funds and living expenses for the US investigator. The CNRS will support visits by French researchers and graduate students to the United States.