Control and estimation in distributed actuator/sensor arrays with application to micro-systems

分布式执行器/传感器阵列的控制和估计及其在微系统中的应用

• 批准号: 0323814
• 负责人: Bassam Bamieh
• 金额: $ 21万
• 依托单位: University of California-Santa Barbara
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-08-01 至 2006-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0323814&HistoricalAwards=false
• 关键词: Control; estimation; distributed; actuator; sensor

Large arrays of spatially distributed dynamical systems are becoming increasingly prevalent in moderntechnological applications.These systems can range from the macroscopic,such as vehicular platoons orUnmaned Aerial Vehicles (UAVs)in formation .ight to the microscopic such as micro-mirror or micro-cantilever arrays.A signi .cant impetus for research on these systems has come from the .eld of Micro-Electro-Mechanical Systems (MEMS)where the construction of very large arrays of sensors and actuators isnow feasible and economical.It is widely recognized that one of the next frontiers in this area is the systemsleve design of such MEMS,as well as their integrated distributed feedback control and estimation.From the systems point of view,these large actuator/sensor arrays are coupled dynamical systems witha large number of inputs and outputs.Traditional control and estimation techniques are not immediatelyapplicable to these systems for two main reasons:(a)the computational complexity due to the large scale isdaunting,and (b)a crucial design consideration is the distributed nature of control and estimation,i.e.whichsensors should communicate with which actuators,and the localization and decentralization requirements onthe controllers.The second problem,in its general form,is widely recognized to be a very di .cult one,withabout three decades of related research in the area of decentralized control.It is thus likely that progress willonly come from exploiting special structures inherent to certain spatially distributed control and estimationproblems.Recent work by the PI has elucidated e .ective methods for addressing both of the above issues forspatially distributed systems with certain types of invariances and symmetries.The methods also provideguidelines and benchmarks for systems that may not posses those symmetries as well.We propose to carry out a combined theoretical and experimental research program in the modelling,distributed controller design and estimation for large networks of sensors and actuators under a variety ofrelevant design constraints.These ideas and design techniques will be applied to the multi-micro-cantileversystems we have been testing at UCSB.The intellectual merits of the proposed research are twofold.The .rst is the development of systematicdesign methodologies for distributed robust control systems which have architectural constraints.These con-straints include the ocalization of information passing between sensors and control units.Such architecturalconstraints are a compromise between fully centralized and fully decentralized control,and are thus expectedto be tractable.Another important aspect of the proposed research is the synergy between MEMS problemsand control theory.Integrated systems design is becoming an increasingly important issue in MEMS.Ourwork in particular will contribute to this in two ways.The .rst is in using distributed estimation as a methodfor simplifying sensor design in a MEMS array,and the second is in the use of feedback (electronically)tosimplify the mechanical MEMS design.Broader impacts:This project is based on a synergistic interaction between control theory and MEMS.Ideas from control engineering are used to design radically simpler MEMS systems,and architectural issuesin MEMS systems are posing new control problems.Students involved in this research will have inter-disciplinary training in both dynamics and controls and in MEMS.We anticipate that our results willenable the design of e .cient MEMS systems which are expected to become an important component of thetechnological economy.

大量空间分布的动力系统在现代技术应用中变得越来越普遍。这些系统可以从宏观上，如车辆排或无人驾驶飞行器(UAV)编队，到微观上，如微镜或微悬臂阵列。从系统的角度来看，对这些系统的研究的一个重要推动力来自于微型机电系统(MEMS)的领域，其中构造非常大的传感器和执行器阵列现在是可行的和经济的。人们普遍认为，这一领域的下一个前沿是MEMS的系统设计，以及它们集成的分布式反馈控制和估计。从系统的角度来看，从系统的角度来看，建立非常大的传感器和执行器阵列已经是可行的和经济的。人们普遍认为，这一领域的下一个前沿是MEMS的系统设计及其集成的分布式反馈控制和估计这些大型执行器/传感器阵列是具有大量输入和输出的耦合动态系统。传统的控制和估计技术不能立即适用于这些系统，主要原因有两个：(A)大规模的计算复杂性令人望而生畏；(B)关键的设计考虑是控制和估计的分布式性质，即哪个传感器应该与哪个执行器通信，以及控制器上的定位和分散要求。第二个问题，在其一般形式下，被广泛认为是一个非常困难的问题，随着分散控制领域近三十年的相关研究，进步可能只会来自于利用某些空间分布控制和估计问题所固有的特殊结构。PI最近的工作阐明了解决具有某些类型的不变性和对称性的空间分布系统的上述两个问题的有效方法。这些方法也为可能也不具有这些对称性的系统提供了指导和基准。我们建议在建模中进行理论和实验相结合的研究计划，在各种相关设计约束下，传感器和执行器组成的大型网络的分布式控制器设计和估计。这些思想和设计技术将应用于我们在加州大学伯克利分校测试的多微悬臂系统。所提出的研究的智力优点有两个。一是为具有体系结构约束的分布式鲁棒控制系统发展系统设计方法。这些约束包括传感器和控制单元之间传递的信息的局部化。这种体系结构约束是完全集中控制和完全分散控制之间的折衷。提出的研究的另一个重要方面是MEMS问题和控制理论之间的协同。集成系统设计正成为MEMS中越来越重要的问题。我们的工作将在两个方面对此做出贡献。第一个是使用分布式估计作为一种方法来简化MEMS阵列中的传感器设计，第二个是使用(电子)反馈来简化机械MEMS设计。更深远的影响：这个项目基于控制理论和MEMS之间的协同作用。来自控制工程的想法被用来设计从根本上更简单的MEMS系统，而MEMS系统中的体系结构问题也提出了新的控制问题。参与这项研究的学生将接受动力学、控制和MEMS方面的跨学科培训。我们预计，我们的结果将使我们的研究成果能够设计出高效的MEMS系统，并有望成为技术经济的重要组成部分。