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

这个项目的主题是基于关于混合系统状态的有限(采样和量化)信息来控制混合系统。该项目旨在首次将两个研究主题结合在一起：混合系统和有限信息的控制。该项目将寻求开发一种新的方法来传播混杂系统可达集合的过近似，并使用该方法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。这种方法将与混杂系统和切换系统的最新分析工具相结合，如多李雅普诺夫函数、平均驻留时间切换和输入-状态稳定性。混杂系统对于电传飞行器和电网等计算机物理系统的行为建模和控制具有重要意义。混杂系统结合了连续动态和离散跃迁。这种混合性质使人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丢失，此类系统的控制器通常对系统状态的信息有限。一种可能的场景是控制在搜索模式和追逐模式之间切换的自主机器人，并且出于安全或实施成本的原因，通过非常低功率的通信链路连接到控制中心。该项目的教育和外联活动包括支持一名研究生，将研究与混合系统和控制方面的研究生课程相结合，举办讲习班和短期课程，并让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.