Collaborative Research: New Communication Infrastructures For Networked Coordinated Control

协作研究：网络协调控制的新型通信基础设施

• 批准号: 0728983
• 负责人: Kristi Hill
• 金额: $ 19.74万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-10-01 至 2010-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0728983&HistoricalAwards=false
• 关键词: Collaborative; Research; New; Communication; Infrastructures

The focus of this project is integrated design and analysis of communication networks in service of coordinated control of multi-vehicle systems. Consider a set of vehicles, equipped with local controllers and wireless radios, that is set to arrange itself, to stabilize, and to control its collective motion. To achieve globally desirable formation behavior, the controller on a given vehicle must respond to the motion and state of others.In fact, there exists a complicated coupling among system components: network architecture, communications protocols, and controller design. The integrated design of these components is the objective of this project. The fundamental challenge in designing networked control systems is that the tasks of communication and control, in general, cannot be considered decoupled from each other without loss of optimality. However, modular solutions can potentially provide significant insights into the nature of efficient solutions. This project addresses the problem of integrated communications and control from a practically viable perspective by decomposing the problem into modular tasks. The introduced degree of modularity, despite its sub-optimality, enables practical and efficient solutions as well as insights into the inherent trade-offs. Because the questions that arise lie at the intersection between communications and controls research, the components of the project bring together expertise in decentralized control, networking, and signal processing through the following specific tasks: 1) Nonlinear coordinated control over dynamic graphs, 2) Crosslayer optimization of wireless networks in service of coordinated control, 3) Physical layer solutions to decentralized communication and control, and 4) Experimental performance evaluation on a 3D autonomous underwater vehicle test-bed at the University of Washington.

本课题的重点是为多车系统协调控制服务的通信网络的集成设计与分析。考虑一组配备了本地控制器和无线无线电的车辆，它们被设置为自我安排、稳定和控制其集体运动。为了实现全局理想的队形行为，给定车辆上的控制器必须对其他车辆的运动和状态做出响应。实际上，系统组件之间存在着复杂的耦合：网络架构、通信协议和控制器设计。这些组件的集成设计是这个项目的目标。设计网络控制系统的基本挑战是，一般来说，通信和控制任务不能在不失去最优性的情况下相互解耦。然而，模块化解决方案可以潜在地为高效解决方案的本质提供重要的见解。该项目通过将问题分解为模块化任务，从实际可行的角度解决了集成通信和控制问题。引入的模块化程度，尽管具有次优性，但可以实现实用和高效的解决方案，并深入了解固有的权衡。由于出现的问题位于通信和控制研究之间的交叉点，因此该项目的组成部分通过以下具体任务汇集了分散控制，网络和信号处理方面的专业知识：1)动态图的非线性协调控制，2)协调控制服务无线网络的跨层优化，3)分散通信与控制的物理层解决方案，4)华盛顿大学三维自主水下航行器试验台实验性能评估。