Goal-Oriented Control Systems (GOCS): Disturbance, Uncertainty and Constraints

目标导向控制系统 (GOCS)：干扰、不确定性和约束

• 批准号: EP/T005734/1
• 负责人: Wen-Hua Chen
• 金额: $ 203.87万
• 依托单位: Loughborough University
• 依托单位国家: 英国
• 项目类别: Fellowship
• 财政年份: 2020
• 资助国家: 英国
• 起止时间: 2020 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FT005734%2F1
• 关键词: Goal; Oriented; Control; Systems; GOCS

Control systems play a central role in automation and modern industry. By using feedback, control systems are designed to regulate system outputs around a reference setpoint or track a reference trajectory, despite disturbances and variations due to its operational environment; for example, an aircraft follows a specified speed and altitude despite gust, wind and changes typical of an aircraft (e.g. number of passengers). Performance specifications for control systems are typically defined to quantify their behaviours in terms of the defined reference. The analysis and design tools/methods across the entire area of control engineering are mainly developed and built upon these specifications. With the demand for ever increasing levels of automation, we are moving towards goal-oriented operation, where what a system needs to achieve is specified at a high level (e.g. in terms of economic or mission requirements), rather than how it is to be achieved (e.g. through defining a setpoint or trajectory). The goal-oriented operation improves the operation process, offers new opportunities for technological advances and reduces operational costs. A Goal-Oriented Control System (GOCS) is essential to enable this type of operation. Another significant difference in GOCS is the influence of disturbance/uncertainties on design specifications. Traditionally a central role of a control system is to attenuate the influence of external disturbance/uncertainties because they always divert the system away from a reference. However, certain disturbance may be good for the system operation in terms of a high-level goal. For example, changes in raw material or environment may make a chemical process more profitable so they should not be rejected; a favourable change of wind condition should be exploited, rather than rejected in an emergency landing as it helps the aircraft to glide longer, providing a larger safe margin in performing forced landing.In current control system design, constraints (e.g. physical, operational, legal) are often considered explicitly or implicitly through generating appropriate references. However, as the system specifications will be defined at a high level in goal-oriented operation and the control system must work out how to achieve the specifications/goals, constraints must be specified very carefully in order to meet safety and other requirements. Some constraints are difficult to represent in the specifications or to take into account constraints within current control design. This Fellowship will develop analysis and design tools for goal-oriented control systems, build up a unified framework for the next generation of control systems in performance specifications, constraint representation and problem formulating, investigate its performance and other properties in the presence of disturbance, uncertainties and constraints, and benchmark their applications. Temporal logic will be used to represent high level specifications and a wide range of complex constraints. By combining temporal logic with rich representation of dynamic systems in control engineering, it aims to develop a complete new analysis and design framework for GOCS that involves both rich dynamics and complex specifications in performance and constraints, and to provide analysis tools for the propagation of information errors, environmental disturbances and dynamic uncertainties into the high level performance specifications and fulfilment of constraints, and the interplay of these terms with a feedback strategy and controlled dynamics. The Fellowship programme is developed and built upon the Fellow's internationally leading work in disturbance observer-based control, model predictive control and autonomous vehicles in the last 25 years. The successful completion of the Fellowship will open a new field of goal-oriented control systems, transform control engineering and unlock the potential of moving from low levels to high levels of automation

控制系统在自动化和现代工业中起着核心作用。通过使用反馈，控制系统被设计成在参考设定值周围调节系统输出或跟踪参考轨迹，尽管其运行环境存在干扰和变化；例如，不管阵风、风和飞机的典型变化（如乘客人数），飞机都要保持特定的速度和高度。通常定义控制系统的性能规格，以根据已定义的参考来量化其行为。整个控制工程领域的分析和设计工具/方法主要是在这些规范的基础上开发和建立的。随着对自动化水平不断提高的需求，我们正朝着目标导向的操作方向发展，在这种情况下，系统需要实现的目标是在较高的水平上指定的（例如，根据经济或任务需求），而不是如何实现（例如，通过定义一个设定值或轨迹）。目标导向的作业改进了作业流程，为技术进步提供了新的机会，降低了作业成本。目标导向控制系统（GOCS）对于实现这种类型的操作至关重要。GOCS的另一个显著差异是干扰/不确定性对设计规范的影响。传统上，控制系统的核心作用是减弱外部干扰/不确定性的影响，因为它们总是使系统偏离参考点。然而，从高层目标的角度来看，某些干扰可能对系统的运行是有益的。例如，原材料或环境的变化可能使化学过程更有利可图，因此不应被拒绝；在紧急迫降中，应该利用有利的风向变化，而不是拒绝它，因为它有助于飞机滑翔更长时间，在执行强制迫降时提供更大的安全裕度。在当前的控制系统设计中，约束（如物理的、操作的、法律的）通常通过生成适当的引用来明确或隐含地考虑。然而，由于系统规格将在目标导向的操作中在高层次上定义，而控制系统必须制定如何实现规格/目标，因此必须非常仔细地指定约束，以满足安全和其他要求。有些约束很难在规范中表示或考虑到当前控制设计中的约束。本奖学金将为目标导向的控制系统开发分析和设计工具，在性能规格、约束表示和问题表述方面为下一代控制系统建立统一的框架，研究其在干扰、不确定性和约束存在下的性能和其他特性，并对其应用进行基准测试。时间逻辑将用于表示高级规范和大范围的复杂约束。通过将时间逻辑与控制工程中动态系统的丰富表示相结合，旨在开发一种全新的、包含丰富动态和复杂性能和约束规范的GOCS分析与设计框架，并为信息误差、环境干扰和动态不确定性传播到高层次性能规范和约束实现中提供分析工具。以及这些术语与反馈策略和受控动态的相互作用。在过去的25年里，该奖学金计划是在该研究员在基于干扰观测器的控制、模型预测控制和自动驾驶汽车方面的国际领先工作的基础上发展和建立的。该奖学金的成功完成将打开目标导向控制系统的新领域，改变控制工程，并释放从低水平向高水平自动化移动的潜力

项目成果

Review of UAV-based autonomous search algorithms for hazardous sources

基于无人机的危险源自主搜索算法综述

• DOI: 10.1360/ssi-2022-0044
• 发表时间: 2022
• 期刊: SCIENTIA SINICA Informationis
• 作者: ? ?

An integrated model predictive control scheme with disturbance preview

具有扰动预览的集成模型预测控制方案

• DOI: 10.1002/rnc.6271
• 发表时间: 2022
• 期刊: International Journal of Robust and Nonlinear Control
• 影响因子: 3.9
• 作者: Fang X

Model Predictive Control With Wind Preview for Aircraft Forced Landing

• DOI: 10.1109/taes.2023.3235321
• 发表时间: 2023-08
• 期刊: IEEE Transactions on Aerospace and Electronic Systems
• 影响因子: 4.4
• 作者: Xing Fang;Jingjing Jiang;Wen-Hua Chen

Perspective view of autonomous control in unknown environment: Dual control for exploitation and exploration vs reinforcement learning

• DOI: 10.1016/j.neucom.2022.04.131
• 发表时间: 2022-05
• 期刊: Neurocomputing
• 影响因子: 6
• 作者: Wen‐Hua Chen

Economic Model-Predictive Control for Aircraft Forced Landing: Framework and Two-Level Implementation

经济模型——飞机迫降预测控制：框架与两级实现

• DOI: 10.1109/taes.2021.3117376
• 发表时间: 2022
• 期刊: IEEE Transactions on Aerospace and Electronic Systems
• 影响因子: 4.4
• 作者: Dong Z