Systematic Control Algorithms and Computational Tools for Complex Distributed Systems

该奖项的研究目标是为通过通用图结构互连的高性能系统开发严格的控制算法和复杂性降低工具，其中控制器的传感和驱动拓扑结构继承自工厂的拓扑结构。这项研究将提供一个新的运营商理论框架，可以捕获复杂的分布式系统组成的异构，非平稳线性参数变化（NSLPV）的子系统模型互连在潜在的无限图形，延迟之间和内部的子系统。使用这个框架，分布式系统的状态空间方程可以表示在一个紧凑的运营商的形式，这是让人想起标准的状态空间方程，和许多推导和证明的鲁棒控制结果的单一标准的状态空间系统可以适应于NSLPV系统连接在任意的图形。结果将包括稳定和稳定/可检测的分布式系统和凸控制设计方法的模型降阶技术，包括新的确定性方法来处理互连结构和不确定初始条件的实时变化。简化的计算算法也将被设计用于最终的周期性分布式系统。如果成功的话，这项研究将应用于广泛的复杂分布式工程系统。感兴趣的具体应用是移动的传感器网络和多车辆系统的协作控制，例如在危险环境或灾害地区操作的地面机器人或无人驾驶飞行器（UAV）。本科生将通过许多项目参与研究计划。与弗吉尼亚理工大学工程多样性增强中心合作，将在夏令营中为包括妇女和少数民族在内的初中和高中学生提供基于本研究的适合年龄的模块，沿着无人机飞行控制系统的实践经验。此外，将编制一个关于控制软件设计的交叉清单研究生课程，明确讨论控制系统的执行问题和有关问题。

The research objective of this award is to develop rigorous control algorithms and complexity reduction tools for high-performance systems interconnected over general graph structures, where the controller sensing and actuation topology is inherited from that of the plant. The research will provide a new operator theoretic framework that can capture complex distributed systems composed of heterogeneous, non-stationary linear parameter-varying (NSLPV) subsystem models interconnected over potentially infinite graphs, with delays incorporated between and within the subsystems. Using this framework, the state-space equations of the distributed system can be represented in a compact operator form which is reminiscent of standard state-space equations, and many derivations and proofs of robust control results on single standard state-space systems can be adapted to NSLPV systems interconnected over arbitrary graphs. The results will include model reduction techniques for stable and stabilizable/detectable distributed systems and convex methods for control design, encompassing novel deterministic approaches to handling real-time changes in the interconnection structure and uncertain initial conditions. Simplified computational algorithms will also be devised for eventually periodic distributed systems.If successful, the research will apply to a broad class of complex distributed engineering systems. Specific applications of interest are mobile sensor networks and cooperative control of multi-vehicle systems, such as ground robots or uninhabited aerial vehicles (UAVs), operating in hazardous environments or disaster zones. Undergraduate students will be involved in the research program through numerous projects. In collaboration with the Center for the Enhancement of Engineering Diversity at Virginia Tech, age-appropriate modules based on this research, along with hands-on experience with UAV flight control systems, will be provided in summer camps for middle and high school students, including women and minorities. In addition, a cross-listed graduate course on control software design will be developed, which addresses explicitly the implementation issues of control systems and related problems.