CSR-EHCS(CPS), SM: Nature-inspired Control of Networked Cyber-physical Systems

该项目专注于从自然界展示的特性中获得新的控制策略，用于联网的网络物理系统，并具体应用于联网的自动驾驶车辆。自然界中的许多现象不能用整数阶动力学的框架来解释。同样，运行在复杂环境中的网络化网络物理系统通常表现出非整数阶(即分数阶)动态。鸟群经常表现出分布式的协调跟踪行为。同样，分布式离散时间协调跟踪策略是在联网嵌入式计算机上实施的候选策略，在许多涉及联网自动驾驶车辆的应用中非常重要。该项目的主旨是(I)分析和设计网络化分数阶系统的分布式协调策略，(Ii)分析和设计分布式离散时间协调跟踪策略，以及(Iii)在网络化地面机器人和无人机(UAV)团队上对新的分布式策略进行实验验证。具体地说，PI将分析和设计网络分数阶微分方程组的分布式协调策略，并推导出变分数阶的最优协调策略。PI还将解决在存在动态网络拓扑、时延、异步交互和信息反馈的情况下分布式离散时间协调跟踪的理论挑战。这项研究有望为在复杂环境中运行的网络化网络物理系统带来新的思考，提供考虑现实世界约束的协调方案，并有助于弥合联网自动驾驶车辆分布式协调理论和应用之间的差距。这项研究对许多涉及联网网络物理系统的民用、国土安全和军事应用产生了影响。例如，精准农业、自动化采矿、环境监测、边境巡逻、监视和侦察。在教育方面，PI将通过他的研究、一年一度的相扑机器人大赛和犹他州州立大学机器人俱乐部来指导和教育本科生和研究生。该项目还将为K-12教师和学生提供研究经验。

This project focuses on deriving novel control strategies, inspired by properties exhibited in nature, for networked cyber-physical systems, with specific application to networked autonomous vehicles. Many phenomena in nature cannot be explained in the framework of integer-order dynamics. Similarly, networked cyber-physical systems operating in complex environments often demonstrate non-integer-order (i.e., fractional-order) dynamics. Flocks of birds often exhibit distributed coordinated tracking behavior. Similarly, distributed discrete-time coordinated tracking strategies that are candidates for implementation on networked embedded computers are important in many applications involving networked autonomous vehicles. The thrusts of this project are (i) analysis and design of distributed strategies for coordination of networked fractional-order systems, (ii) analysis and design of distributed discrete-time coordinated tracking strategies, and (iii) experimental validation of new distributed strategies on teams of networked ground robots and unmanned aerial vehicles (UAVs). Specifically, the PI will analyze and design distributed coordination strategies for networked fractional differential equations and derive an optimal coordination strategy with varying fractional orders. The PI will also address the theoretical challenges of distributed discrete-time coordinated tracking in the presence of dynamic network topology, time delay, asynchronous interaction, and information feedback. The research is expected to lead to new thinking about networked cyber-physical systems operating in complex environments, provide coordination schemes accounting for real-world constraints, and help bridge the gap between theory and applications in distributed coordination of networked autonomous vehicles. The research has impact on numerous civilian, homeland security, and military applications involving networked cyber-physical systems. Examples include precision agriculture, automated mining, environmental monitoring, border patrol, surveillance, and reconnaissance. On the education side, the PI will mentor and educate undergraduate and graduate students through his research, a yearly Sumo Robot competition, and the Utah State University Robotics Club. The project will also provide research experience for K-12 teachers and students.