Hybrid Set-theoretic Approaches for Constrained Control and Estimation with Applications to Autonomous Sailing Boats

约束控制和估计的混合集合论方法及其在自主帆船中的应用

• 批准号: EP/R005532/1
• 负责人: Jian Wan
• 金额: $ 11.56万
• 依托单位: Plymouth University
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FR005532%2F1
• 关键词: Hybrid; Set; theoretic; Approaches; Constrained

Set-theoretic or set-membership methods generally refer to all the set-membership techniques theoretically based on some properties of subsets of the state space. On the one hand, sets are a pertinent language and formulation to specify uncertainties, constraints, estimation errors, design specifications and system performances for control systems. On the other hand, sets also play an active role in the solutions of the problems due to their specific mathematical formats and the associated set-theoretic methods. For example, branch-and-bound of an admissible domain can lead to the global minimum or maximum of a non-convex optimization problem and a Lyapunov function for guaranteeing the stability of a system may be synthesized from positively invariant sub-level sets.Various types of sets such as intervals, ellipsoids, zonotopes and polytopes have been extensively studied in the literature and each individual type of set has its own advantages and disadvantages in the context of problem formulation and solving. Making full use of the specific advantages provided by each set-membership tool, this research project aims to develop hybrid set-theoretic approaches that can integrate all set-membership tools as well as their specific advantages. For instance, the idea of bisecting an interval has been introduced to bisect a zonotope and a polytope can be represented as the intersection of zonotopes for enabling exact polytopic set computation via zonotopic set computation. The developed hybrid set-theoretic methods and algorithms are to used for solving constrained control and estimation issues encountered in various kinds of control systems with improved accuracy and/or efficiency such as the search of a robust control invariant set via the bisection of zonotopes or even polytopes and guaranteed state estimation via exact polytopic set computation for nonlinear discrete-time systems. These developed hybrid set-theoretic methods and algorithms are also to be used for reachability analysis and fault detection of piecewise affine and hybrid systems. Finally, these theoretical progresses on constrained control and estimation via the developed hybrid set-theoretic approaches are to be applied to solve path planning, obstacle avoidance, control and estimation issues of autonomous sailing boats under complex marine environments where set-based solutions are more pertinent than point-based solutions.

集合论或集合隶属度方法一般是指所有基于状态空间子集的某些性质的理论的集合隶属度方法。一方面，集合是用于指定控制系统的不确定性、约束、估计误差、设计规范和系统性能的相关语言和表述。另一方面，集合由于其特定的数学格式和相关的集合理论方法，在问题的求解中也起着积极的作用。例如，允许域的分支定界可以导致非凸优化问题的全局最小值或最大值，保证系统稳定性的Lyapunov函数可以由正不变子水平集合成。各种类型的集合，如区间、椭球体、带共体和多面体，在文献中被广泛研究，每种类型的集合在问题的表述和解决中都有自己的优点和缺点。充分利用每个集隶属工具的特定优势，本研究项目旨在开发混合集理论方法，可以整合所有集隶属工具及其特定优势。例如，引入对区间进行等分的思想来对分区分区进行等分，并将多面体表示为分区分区的交集，从而通过分区分区集计算实现精确的多面体集计算。所开发的混合集理论方法和算法用于解决各种控制系统中遇到的约束控制和估计问题，提高了精度和效率，例如通过分区或甚至多面体的对分来搜索鲁棒控制不变量集，以及通过精确多面体集计算来保证非线性离散系统的状态估计。这些混合集理论方法和算法也可用于分段仿射和混合系统的可达性分析和故障检测。最后，通过开发的混合集合理论方法，这些关于约束控制和估计的理论进展将被应用于解决复杂海洋环境下自主帆船的路径规划、避障、控制和估计问题，其中基于集合的解决方案比基于点的解决方案更适用。

项目成果

Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway

• DOI: 10.1109/tits.2019.2912389
• 发表时间: 2020-05-01
• 期刊: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
• 影响因子: 8.5
• 作者: Viel, Christophe;Vautier, Ulysse;Jaulin, Luc
• 通讯作者: Jaulin, Luc

Guaranteed State Estimation for Nonlinear Discrete-Time Systems via Indirectly Implemented Polytopic Set Computation

• DOI: 10.1109/tac.2018.2816262
• 发表时间: 2018-03
• 期刊: IEEE Transactions on Automatic Control
• 影响因子: 6.8
• 作者: J. Wan;Sanjay K. Sharma;R. Sutton

Reachability Problems - 12th International Conference, RP 2018, Marseille, France, September 24-26, 2018, Proceedings

可达性问题 - 第 12 届国际会议，RP 2018，法国马赛​​，2018 年 9 月 24-26 日，会议记录

• DOI: 10.1007/978-3-030-00250-3_1
• 发表时间: 2018
• 作者: Alexandre Dit Sandretto J

Development and Test of an Open-Source Autonomous Sailing Robot with Accessibility, Generality and Extendibility

具有可访问性、通用性和可扩展性的开源自主帆船机器人的开发与测试

• 发表时间: 2018
• 作者: Vautier U.

Restricted Orientation Dubins Path With Application to Sailboats

限制定向杜宾斯路径在帆船上的应用

• DOI: 10.1109/lra.2019.2930424
• 发表时间: 2019
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Vautier U