Collaborative Research: Closed-loop Optimization and Control of Physical Networks Subject to Dynamic Costs, Constraints, and Disturbances

协作研究：受动态成本、约束和干扰影响的物理网络的闭环优化和控制

• 批准号: 2044900
• 负责人: Jorge Cortes
• 金额: $ 30万
• 依托单位: University of California-San Diego
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-01-01 至 2024-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2044900&HistoricalAwards=false
• 关键词: Collaborative; Research; Closed; loop; Optimization

This project will advance a fundamentally new control framework, utilizing streams of heterogeneous data to optimize the behavior of complex and dynamic networked systems with pervasive sensing and computing capabilities, operating in uncertain and changing environments. Existing workhorse control and optimization methodologies assume a large separation of time scales, sufficient to justify complete decoupling of the optimization and control tasks. However, this assumption is increasingly invalid for modern critical infrastructure and social platforms. This project represents a new approach for optimal and reliable decision-making on time scales comparable to the dynamics of the underlying physical and logistic systems, by using new mathematical principles of analysis and synthesis to control the collective behavior of agents and the underlying physical dynamics. The key concept is to continuously drive the dynamical system towards solution trajectories of optimization problems that have costs, constraints, and inputs which change over time. In the context of future transportation networks, the approach is well-aligned with the objective of moving people and cargo efficiently and sustainably, and with the integration of connected and autonomous vehicles. Similar application opportunities occur in areas such as energy, robotics, and autonomous systems, with the common feature of interconnected cooperative and non-cooperative agents interacting via multiple heterogeneous physical and virtual networks. The project will also impact undergraduate and graduate engineering students, and K-12 students through a comprehensive outreach and educational plan that includes STEM camps, engaging activities to promote the recruitment of female students and students from under-served communities and minority schools into the STEM pipeline, and curriculum enhancement initiatives.Traditional decision-making architectures in networked systems and critical infrastructures are grounded on explicit spatio-temporal boundaries between model-based network-level optimization (producing setpoints in a feed-forward fashion) and local closed-loop control (regulating the dynamical system to the setpoints while rejecting disturbances). The modus operandi of these traditional architectures has worked well in settings where the underlying dynamics of the physical systems are slower than the solution time required by network-level optimization tasks, network models and data structures are available, and problem inputs can be pervasively collected in a timely and reliable manner. Such assumptions, however, are becoming increasingly inadequate in dynamic settings where batch approaches fail to solve the underlying optimization problems on a time scale that matches the dynamics of the networked physical systems, physical models (embedded into the optimization task) are difficult to estimate accurately, and (unknown) disturbances evolve rapidly and unpredictably. This project will generate new mathematical principles for the synthesis and analysis of online data-based algorithms that drive the collective behavior of agents and physical dynamics to desired operational points. In particular, the desired equilibrium points coincide with solution trajectories of time-varying optimization problems formalizing performance metrics and operational constraints associated with the dynamical system. The interconnected-system framework under study compresses the time scales between control and optimization tasks to continuously drive the dynamic behavior of physical systems to network-optimal and stable points. The research seeks to expand the class of problems to which this project vision can be applied, develop predictive controllers with information streams, and synthesize novel distributed algorithmic solutions for interconnected systems. The technical approach focuses on networked transportation systems as the arena to materialize the theoretical and algorithmic advances and provide innovative control and optimization strategies. Beyond transportation, benefits are expected to propagate in the broader optimization and control communities, with applications in multiple domains including control of epidemics, robotic networks, social networks, and energy infrastructures.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目将推进一个全新的控制框架，利用异质数据流来优化复杂和动态的联网系统的行为，这些系统具有普遍的感知和计算能力，在不确定和不断变化的环境中运行。现有的主力控制和优化方法假定时间尺度有很大的分离，足以证明优化和控制任务完全分离。然而，这一假设对现代关键基础设施和社交平台来说越来越不成立。这个项目代表了一种新的方法，通过使用新的分析和综合的数学原理来控制代理人的集体行为和基本的物理动态，在可与基础物理和物流系统的动态相媲美的时间尺度上进行最佳和可靠的决策。关键的概念是不断地推动动力系统朝着优化问题的解决轨迹前进，这些优化问题具有随时间变化的成本、约束和输入。在未来运输网络的背景下，该办法与有效和可持续地运送人员和货物的目标以及联网和自动驾驶车辆的一体化很好地结合在一起。类似的应用机会也出现在能源、机器人和自主系统等领域，其共同特征是互连的协作和非协作代理通过多个异类物理和虚拟网络进行交互。该项目还将通过一项全面的外联和教育计划影响本科生和工程学研究生以及K-12学生，其中包括STEM夏令营，开展活动促进将女学生和来自服务不足的社区和少数族裔学校的学生纳入STEM渠道，以及课程改进举措。网络系统和关键基础设施中的传统决策架构基于基于模型的网络级优化(以前馈方式产生设定点)和本地闭环控制(将动力系统调节到设定点，同时抑制干扰)之间的明确时空边界。这些传统体系结构的工作方式在物理系统的基本动态慢于网络级优化任务所需的解决时间、网络模型和数据结构可用，并且可以及时可靠地普遍收集问题输入的环境中运行良好。然而，这样的假设在动态环境中变得越来越不合适，其中批处理方法无法在与联网物理系统的动态匹配的时间尺度上解决潜在的优化问题，(嵌入到优化任务中的)物理模型很难准确估计，并且(未知的)干扰快速且不可预测地演变。该项目将产生新的数学原理，用于综合和分析基于在线数据的算法，这些算法将代理的集体行为和物理动力学驱动到所需的操作点。特别是，期望的平衡点与时变优化问题的解轨迹一致，所述时变优化问题形式化了与动态系统相关的性能指标和操作约束。研究中的互联系统框架压缩了控制和优化任务之间的时间尺度，以不断地将物理系统的动态行为驱动到网络最优和稳定点。这项研究旨在扩大这一项目愿景可以应用到的问题的类别，开发具有信息流的预测控制器，并为互联系统综合新的分布式算法解决方案。该技术方法将网络交通系统作为实现理论和算法进步的舞台，并提供创新的控制和优化策略。除了交通，效益预计将传播到更广泛的优化和控制社区，应用于多个领域，包括流行病控制、机器人网络、社交网络和能源基础设施。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Data-Driven Synthesis of Optimization-Based Controllers for Regulation of Unknown Linear Systems

• DOI: 10.1109/cdc45484.2021.9682795
• 发表时间: 2021-03
• 期刊: 2021 60th IEEE Conference on Decision and Control (CDC)
• 作者: G. Bianchin;M. Vaquero;J. Cortés;E. Dall’Anese

Time-Varying Optimization of LTI Systems Via Projected Primal-Dual Gradient Flows

• DOI: 10.1109/tcns.2021.3112762
• 发表时间: 2021-01
• 期刊: IEEE Transactions on Control of Network Systems
• 影响因子: 4.2
• 作者: G. Bianchin;J. Cortés;J. Poveda;E. Dall’Anese

Safety-Critical Control as a Design Paradigm for Anytime Solvers of Variational Inequalities

安全关键控制作为变分不等式随时求解器的设计范式

• DOI: 10.1109/cdc51059.2022.9993396
• 发表时间: 2022
• 期刊: IEEE
• 作者: Allibhoy, Ahmed;Cortes, Jorge
• 通讯作者: Cortes, Jorge

Control Barrier Function-Based Design of Gradient Flows for Constrained Nonlinear Programming

基于控制屏障函数的约束非线性规划梯度流设计

• DOI: 10.1109/tac.2023.3306492
• 发表时间: 2023
• 期刊: IEEE Transactions on Automatic Control
• 影响因子: 6.8
• 作者: Allibhoy, Ahmed;Cortés, Jorge
• 通讯作者: Cortés, Jorge

Data-Driven Optimal Control of Bilinear Systems

• DOI: 10.1109/lcsys.2022.3164983
• 发表时间: 2021-12
• 期刊: IEEE Control Systems Letters
• 影响因子: 3
• 作者: Zhenyi Yuan;J. Cortés