Infinite-Dimensional Stochastic Hybrid Systems: A Unified Framework for Distributed Control with Limited and Disrupted Communication

无限维随机混合系统：具有有限和中断通信的分布式控制的统一框架该项目追求一个为期四年的研究和教育计划，以开发具有有限和潜在中断通信的分布式控制的统一框架。该框架利用混合系统作为选择的建模工具来组合物理连续系统、基于事件的协议和实时软件。该项目侧重于对通信网络进行分布式控制的具体需求。开发的算法在加州大学圣巴巴拉分校（UCSB）的两个试验台上进行了测试：ZEUS手术机器人系统和无线移动机器人系统。该研究对混合系统理论进行了重要的扩展，以解决分布式控制和通信的具体问题。特别地，研究了以下基本问题：发展无限维和功能混合系统的理论，需要处理（可能变化的）通信和计算延迟。将混合系统理论扩展到随机设置，能够捕获大多数物理系统和通信/调度协议中存在的噪声，不确定性和随机性。将这些扩展的混合系统理论应用于两个现有的试验台，以了解通信网络分布式控制的实际需求。该项目旨在生产严格的工具来分析和设计与支持它们的通信网络完全集成的分布式控制系统。重点是在系统的设计是可证明的正确的结构，最大限度地减少需要暴力的后验验证。本研究的最终目标是设计在现实（因此不完美）网络世界中可靠的控制系统。开发的工具和技术应用于两个试验台：ZEUS手术机器人系统和基于ActivMedia的PIONEER-2轮式机器人的无线移动机器人系统。这些试验台为基础研究提供了实际验证，并展示了混合系统作为医学和生物学等领域的使能技术的作用；科学和工业传感与控制；以及科学实验设备的支持。这个项目有很强的教育成分。除了为攻读博士学位的学生提供资金外，UCSB的课程中还增加了混合控制系统领域的新课程。这些课程是跨学科的，针对的是控制、通信、信号处理、机械和化学工程领域的学生。目标受众包括在读硕士和博士课程的研究生或高年级本科生。为了达到这个目的（也为了方便不同院系的学生入学），课程大多是独立的，先决条件最低。本科教育通过课程改革来提高对混合动力学的认识，并为工程学院跨学科控制工程实验室（ICE实验室）开发实验。通过让学生接触研究，期望能促进所开发的技术向工业的过渡，并鼓励学生培养在科学研究和电气工程专业职业生涯中取得成功所必需的严谨和分析思维。所有的研究成果，包括论文、报告和软件，都可以通过万维网免费提供给研究社区。课程资料（包括课堂讲稿、作业、实验资料等）也免费提供给学术界。

Infinite-Dimensional Stochastic Hybrid Systems:A Unified Framework for Distributed Control with Limited and Disrupted CommunicationThis project pursues a four-year research and education plan to develop a unified framework for distributed control with limited and potentially disrupted communication. This framework utilizes hybrid systems as the modeling tool of choice to combine physical continuous systems, event-based protocols, and real-time software. The project is focused on the specific needs of distributed control over communication networks. The algorithms developed are tested on two testbeds available at the University of California, Santa Barbara (UCSB): the ZEUS Surgical Robotic System and a wireless mobile robotic system.The research pursues significant extensions of hybrid systems theory to address issues specific to distributed control and communication. In particular, the following fundamental issues are investigated: Development of a theory for infinite-dimensional and functional hybrid systems, which is needed to deal with (possibly varying) communication and computation delays. Extension of hybrid systems theory to a stochastic setting, capable of capturing noise, uncertainty and randomization present in most physical systems and in communication/scheduling protocols. Application to two existing test-beds of these extensions of hybrid systems theory, in order to understand the practical needs of distributed control over communication networks.Broader impacts resulting from the projectThis project aims at producing rigorous tools to analyze and design distributed control systems that are fully integrated with the communication networks that support them. The emphasis is in the design of systems that are provably correct by construction, minimizing the need for brute force a posteriori validation. The ultimate goal of this research is the design of control systems that are reliable in a realistic (thus not perfect) networked world.The tools and technologies developed are applied to two testbeds: the ZEUS Surgical Robotic System and a wireless mobile robotic system based on ActivMedia's PIONEER-2 wheeled robot. These testbeds provide the practical validation of the fundamental research as well as demonstrate the role of hybrid systems as an enabling technology to areas such as medicine and biology; scientific and industrial sensing and control; and the support of experimental apparatus for science.This project has a strong educational component. Aside from providing funding for students pursuing PhD programs, new courses are added to UCSB's curriculum in the area of hybrid control systems. These courses are interdisciplinary, aimed at students in the areas of control, communications, signal processing, mechanical, and chemical engineering. The intended audience consists of graduate students early in their MS and PhD programs or senior undergraduate students. To this effect (and to facilitate the enrollment of students in different departments) the courses are mostly self-contained with minimal prerequisites. Undergraduate education is specifically addressed through curricular changes to increase awareness towards hybrid dynamics as well as the development of experiments for the College of Engineering Interdisciplinary Control Engineering Laboratory (ICE Lab). By exposing the students to research, it is expected to enhance the transition to industry of the technologies developed and encourage students to develop the rigorous and analytical thinking required for success in scientific research and also in a professional career in electrical engineering.All the results, including papers, reports, and software are available freely to the research community through the world-wide-web. The course materials (including lecture notes, homeworks, laboratory materials, etc.) are also freely available to the academic community.