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：有限和中断通信的分布式控制的统一框架这个项目进行了一项为期四年的研究和教育计划，以开发一个用于有限和潜在中断通信的分布式控制的统一框架。该框架使用混合系统作为选择的建模工具，将物理连续系统、基于事件的协议和实时软件结合在一起。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。该研究追求混合系统理论的重大扩展，以解决特定于分布式控制和通信的问题。特别是，研究了以下基本问题：发展了无限维函数混合系统的理论，这是处理(可能变化的)通信和计算延迟所必需的。将混合系统理论扩展到随机环境，能够捕获大多数物理系统和通信/调度协议中存在的噪声、不确定性和随机化。将这些混合系统理论的扩展应用到现有的两个试验台上，以了解通信网络上分布式控制的实际需求。该项目产生的广泛影响该项目旨在产生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。重点是设计通过构造证明是正确的系统，最大限度地减少对后验验证的蛮力需求。这项研究的最终目标是设计在现实(因此并不完美)的网络世界中可靠的控制系统。所开发的工具和技术被应用于两个试验台：Zeus手术机器人系统和基于ActivMedia的先锋2轮式机器人的无线移动机器人系统。这些试验台提供对基础研究的实际验证，并展示混合系统作为使能技术在医学和生物学、科学和工业传感和控制以及科学实验仪器支持等领域的作用。该项目具有强大的教育成分。除了为攻读博士学位的学生提供资金外，UCSB在混合控制系统领域的课程中还增加了新的课程。这些课程是跨学科的，面向控制、通信、信号处理、机械和化学工程领域的学生。目标受众包括硕士和博士课程早期的研究生或大四的本科生。为此(并为方便不同系的学生入学)，这些课程大多是自给自足的，只有最低限度的先决条件。本科教育是通过课程改革来具体解决的，以提高对混合动力的认识，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，预计将促进所开发技术的产业化，并鼓励学生发展在科学研究和电气工程专业生涯中取得成功所需的严谨和分析思维。所有结果，包括论文、报告和软件，都可以通过万维网免费提供给研究界。课程材料(包括课堂讲稿、作业、实验材料等)学术界也可以免费获得。

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.