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

基本信息

批准号：
0729060
负责人：
Tara Javidi
金额：
$ 20.48万
依托单位：
University of California-San Diego
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 2011-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=0729060&HistoricalAwards=false
关键词：
Collaborative Research New Communication Infrastructures

项目摘要

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.

该项目的重点是对多车系统协调控制的通信网络的集成设计和分析。考虑一组配备本地控制器和无线收音机的车辆，这些车辆将安排自身，稳定和控制其集体运动。为了实现全球所需的形成行为，给定车辆上的控制器必须响应其他人的运动和状态。实际上，系统组件之间存在复杂的耦合：网络体系结构，通信协议和控制器设计。这些组件的集成设计是该项目的目的。设计网络控制系统的基本挑战是，一般而言，通信和控制的任务不能被视为彼此分离而不会丧失最佳性。但是，模块化解决方案可以潜在地提供对有效解决方案的性质的重要见解。该项目通过将问题分解为模块化任务，从实际上可行的角度解决了集成通信和控制的问题。引入的模块化程度，尽管它是次优的，但可以实现实用和高效的解决方案以及对固有的权衡的见解。因为出现的问题位于通信与控制研究之间的相交，所以该项目的组成部分通过以下特定任务将在分散控制，网络和信号处理方面的专业知识汇集在一起：1）非线性对动态图的非线性协调控制，2）在无线网络中的无线网络在配置控制方面的无线网络优化，3）实验性的沟通和4）4）华盛顿大学的水下汽车测试床。