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

美法合作研究：网络控制系统的无源控制

• 批准号: 0128656
• 负责人: Mark Spong
• 金额: $ 1.8万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-02-15 至 2006-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0128656&HistoricalAwards=false
• 关键词: U.S.; France; Cooperative; Research; Passivity

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.

0128656Spong这个为期三年的奖项支持美国和法国在控制系统方面的合作，Mark W.伊利诺斯大学的Spong和法国电子工程研究中心SUPELEC信号与系统实验室的罗密欧奥尔特加。目的是研究网络控制系统的无源非线性控制，特别是涉及双边远程操作（遥操作）在不可靠的通信网络的系统。 这个问题是出于对嵌入式真实的时间控制系统中的无线通信的兴趣以及在遥控和网络控制系统中使用互联网作为通信介质的兴趣。 这项研究将促进对如何设计和利用具有本地智能的移动的智能机器人系统的理解，以便通过不可靠的网络与其他机器人和人类操作员进行通信。 研究人员计划回答：传感、命令和控制信息如何在这样的网络上共享，以及当网络通信降级时，需要多少本地智能来保证性能和稳定性。 美国研究人员为这种合作带来了基于无源性的网络控制系统的专业知识。 法国在非线性控制和机器人技术方面的理论专长对此进行了补充。 他们的研究成果的潜在应用包括在危险和偏远环境中的工作，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向NSF和CNRS提出的平行建议。 NSF将支付美国研究者的差旅费和生活费。 CNRS将支持法国研究人员和研究生访问美国。