Active Sensing Approach to Output-Based Control of Nonsmooth Dynamical Systems with Controlled Singularities

具有受控奇点的非光滑动力系统的基于输出的控制的主动传感方法

• 批准号: 0324630
• 负责人: Joseph Bentsman
• 金额: $ 21.3万
• 依托单位: University of Illinois at Urbana-Champaign
• 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: 2003-09-01 至 2007-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0324630&HistoricalAwards=false
• 关键词: Active; Sensing; Approach; Output; Based

A new class of systems, dynamical systems with active, or controlled, singularities, and the corresponding rigorous modeling and optimal control framework have been recently introduced by the PI and his colleagues. The main characteristic of the systems in this class is the admission of impulsive control action during the singular phases of their motion, such as discontinuities and nonsmoothness, jumps in dimension, and others. This work, however, revealed a fundamental knowledge gap that needs to be bridged to permit practical controller implementation: correct statement and solution of the novel problem of sensing in systems with controlled singularities, i.e. sensing in systems with combined regular and very short duration singular motions, both controlled. Upon further examining the impact games, one notices that the advanced player puts considerable effort into maintaining the best possible combination of the two sensing modes: the visual tracking and the contact ``feel'' of the ball. Thereby, the player controls the sensing environment of the non-impact and impact phases of the game, respectively, at every instant of the game. This strategy gives rise to the concept of active sensing in the systems with controlled singularities, where the control in both phases is chosen with the added goal of maximizing the information content of the state observations. Active sensing in this class of systems is imperative, since singular phases have very short duration, but critically affect the entire system behavior. Thus, the concept proposed is important, and in combination with the concepts indicated above, it offers the potential of drastically improving the performance of systems with singularities. Active sensing and output-based control of the entire two-phase system motion are expected to require information-set, optimization, and multi-scale dynamic wavelet network methods for synthesis of the ultra-high-speed time-localized state estimators and controllers based on the short interval nonsmooth real-time measurements in the singular phase, and rigorous embedding of the multi-scale models into the discrete-continuous equations capable of representing sensing and control in both singular and smooth motion phases. Thus, the objectives of the proposed research are a) to develop a mathematical framework for active sensing in the systems with controlled singularities, b) on the basis of this framework to develop procedures for the design of active ultra-high-speed time-localized state observers that utilize signals containing both smooth and impulsive data, c) on the basis of the results of a) and b) to develop techniques\ for obtaining the full input/state/output two-phase system model and designing the optimal output-based open-loop and feedback control laws, with control actions applied during both regular and singular motion, and d) to apply the procedures developed to high speed fault clearing in power networks and boiler-turbine units with fast valving, ultra-high performance electromechanical drives with impulsive endpoint return motion, and modeling and control of impact-based motions in MEMS. The broader impact of the research proposed stems from the fact that singularities in system motion are critically important across a broad range of technologically significant systems, such as power networks abruptly affected by the fault-induced topological change, biped robots, fast positioning systems with reverse motion, thin-film microactuator arrays, space vehicles with impulsive propulsion, smart skins, and other systems. Due to rapid progress in fast sensing/actuation the proposed activity has a potential of providing qualitative jump in the performance of these systems.

最近，PI和他的同事们提出了一类新的系统，即具有主动或受控奇点的动力系统，以及相应的严格建模和最优控制框架。这类系统的主要特征是在其运动的单一阶段允许脉冲控制作用，例如不连续和非光滑、维度跳跃等。然而，这项工作揭示了一个基本的知识鸿沟，需要弥合才能实现实际的控制器：正确描述和解决具有受控奇点的系统中的传感新问题，即在具有规则和极短持续时间的组合运动的系统中的传感，两者都受到控制。在进一步检查撞球游戏时，人们注意到，高级球员花费了相当大的努力来保持两种感知模式的最佳组合：视觉跟踪和球的接触“感觉”。从而，玩家在游戏的每个时刻分别控制游戏的非影响阶段和影响阶段的感知环境。这一策略在具有受控奇点的系统中提出了主动感知的概念，其中两个阶段的控制都是以最大化状态观测的信息量为附加目标的。在这类系统中，主动感知是势在必行的，因为奇异阶段的持续时间很短，但严重影响着整个系统的行为。因此，提出的概念是重要的，与上述概念相结合，它提供了极大地改善奇点系统性能的潜力。整个两相系统运动的主动传感和基于输出的控制需要信息集、优化和多尺度动态小波网络方法，以基于奇异阶段的短间隔非光滑实时测量来综合超高速时间局部化状态估值器和控制器，并将多尺度模型严格嵌入能够表示奇异和平滑运动阶段的传感和控制的离散-连续方程中。因此，所提出的研究的目标是a)开发在具有受控奇点的系统中的有源传感的数学框架，b)在该框架的基础上开发利用包含平滑和脉冲数据的信号的有源超高速时间局部化状态观测器的设计过程，c)基于a)的结果和b)开发用于获得完整的输入/状态/输出两相系统模型和设计基于输出的最优开环和反馈控制律的技术，其中在规则运动和奇异运动期间都应用控制动作，以及d)将开发的程序应用于电网和具有快速阀门的锅炉-汽轮机组的高速故障排除、具有脉冲端点返回运动的超高性能机电驱动，以及MEMS中基于冲击的运动的建模和控制。所提出的研究的更广泛的影响源于这样一个事实，即系统运动的奇异性在广泛的技术意义上是至关重要的，例如受故障引起的拓扑变化突然影响的电力网络、两足机器人、具有反向运动的快速定位系统、薄膜微执行器阵列、具有脉冲推进的空间飞行器、智能皮肤和其他系统。由于快速感应/驱动方面的快速进展，拟议的活动有可能在这些系统的性能上提供质的飞跃。