Collaborative Research: Algorithms for Design of Structured Distributed Controllers with Application to Large-Scale Vehicular Formations

该奖项为大规模系统的结构化最优控制器的设计引入了新的理论和计算工具。标准的优化设计方法导致需要在所有子系统之间进行通信的控制器。在非常大的系统中，由于其广泛的通信、计算和硬件要求，这是一种昂贵的方案。PI将利用某些分布式控制问题所固有的特殊结构，如不变性和对称性，来开发与集中式设计相比较的局部控制框架。这项研究将导致控制器的设计，具有预先指定的本地化和通信体系结构，并且相对于全局成本函数是最优的。教育方面的重点是开发新的分布式系统课程。这将包括新的入门课程，使本科生和硕士研究生熟悉分布式系统的分析和设计工具。这些课程将强调实际应用和物理解释。该奖项将通过实现对具有大量单独组件的系统的最佳本地化控制来带来显著的技术进步。将特别关注大规模车辆编队的最优控制策略的设计。PIS将以一种独特的跨学科方式培训参与的学生；他们还将联合举办研讨会，旨在将广泛的学生、研究人员和行业专业人员聚集在一起。这些讲习班将加强拟议工作的跨学科性质，并促进控制理论与工程实践之间的知识转移。外展部分包括PI参与公共研讨会，讨论控制工程在将自然飞行运动员、跑步者和游泳运动员采用的集体决策策略转变为工程应用方面的重要性。

This award introduces new theoretical and computational tools for the design of structured optimal controllers for large-scale systems. Standard optimal design methods result in controllers that demand communication among all subsystems. In very large systems, this is a costly scheme due to its extensive communication, computation, and hardware requirements. The PIs will utilize special structures inherent to certain distributed control problems, such as invariances and symmetries, to develop a framework for localized control which compares to that available for centralized design. This research will result in the design of controllers that posses pre-specified localization and communication architectures, and are optimal with respect to global cost functionals. The educational aspect is centered around the development of a new distributed systems curriculum. This will include new introductory courses that will familiarize undergraduate and master-level students with the tools for analysis and design of distributed systems. These courses will emphasize practical applications and physical interpretations.This award will lead to significant technological advances by enabling the optimal localized control for systems with large number of individual components. Particular attention will be paid to the design of optimal control strategies for large-scale vehicular formations. The PIs will train participating students in a unique interdisciplinary fashion; they will also jointly organize workshops aimed at bringing together a broad audience of students, researchers, and industry professionals. These workshops will enhance a cross-disciplinary character of the proposed work and facilitate transfer of knowledge between the control theory and engineering practice. The outreach component includes the PIs' engagement in public seminars discussing the importance control engineering in transforming the collective decision making strategies employed by natural fliers, runners, and swimmers to engineering applications.