CSR--EHS: Small: Limited-information control of hybrid systems via reachable set propagation

这个项目的主题是混合动力系统的控制基于有限的（采样和量化）信息，他们的状态。该项目旨在首次将两个研究主题结合在一起：混合动力系统和有限信息控制。该项目将寻求开发一种新的方法，用于传播混合系统的可达集的过近似，并使用它来定义和验证基于连续状态的采样和量化测量的控制策略。该方法将与最先进的混合和切换系统分析工具相结合，如多个李雅普诺夫函数，平均驻留时间切换，输入到状态的稳定性。混合系统是重要的建模和控制的信息物理系统的行为，如电传操纵飞机和电网。混合系统结合了联合收割机的连续动态和离散过渡。这种混合性质使人们能够捕获在实践中遇到的在不同操作模式之间切换的许多过程。由于可用传感器的限制以及通信中的延迟和损失，用于这种系统的控制器通常具有关于系统状态的有限信息。一种可能的情况是控制在搜索模式和追踪模式之间切换的自主机器人，并且出于安全或实现成本的原因，该自主机器人经由非常低功率的通信链路连接到控制中心。该项目的教育和推广活动包括支持一名研究生，将研究与混合系统和控制研究生课程相结合，讲习班和短期课程，以及本科生参与将理论发展转化为软件工具。

The theme of this project is control of hybrid systems based on limited (sampled and quantized) information about their state. The project aims to bring together, for the first time, two research topics: hybrid systems, and control with limited information. The project will seek to develop a novel method for propagating over-approximations of reachable sets for hybrid systems, and use it to define and validate a control strategy based on sampled and quantized measurements of the continuous state. This method will be combined with state-of-the-art analysis tools for hybrid and switched systems, such as multiple Lyapunov functions, average dwell-time switching, and input-to-state stability.Hybrid systems are important for modeling and controlling the behavior of cyber-physical systems, such as fly-by-wire aircraft and power grids. Hybrid systems combine continuous dynamics and discrete transitions. This hybrid nature enables one to capture many processes encountered in practice which switch between different modes of operation. Controllers for such systems typically have limited information about the system state, due to limitations of available sensors and delays and losses in communication. A possible scenario is controlling an autonomous robot which switches between the search mode and the pursuit mode and, for security or implementation cost reasons, is connected to the control center via a very low-power communication link. Educational and outreach activities of the project include support of a graduate student, integration of the research with graduate courses in hybrid systems and control, workshops and short courses, and involvement of undergraduates in translating theoretical developments into software tools.