Cooperative and Adaptive Mechatronic Systems: Identification, Control, and Optimization

提出的研究计划侧重于动态机电一体化系统的分布式参数识别、控制和优化，使用新颖的协作和自适应方法完成一类任务，包括(i)通过机载传感器网络在线识别机电一体化系统的参数，例如自动驾驶汽车或移动机器人平台；（ii）机电一体化多主体（车辆/机器人/工作单元）系统的协调和控制；(3)求极值。对于这些任务，该计划将开发广泛适用的(a)有效的分布式高级算法，(b)传感器和执行器网络架构，以及(c)用于在各种机电质量上运行算法的低级实用控制器。通过建设性的数学分析以及在汽车、多车、可重构机器人和传感器网络测试平台上的实时测试和验证，所有结果都将具有保证的稳定性、性能和鲁棒性。

The proposed research program focuses on distributed parameter identification, control and optimization of dynamic mechatronic systems, using novel cooperative and adaptive approaches for a class of tasks, including (i) on-line parameter identification of mechatronic systems, e.g. autonomous cars or mobile robotic platforms, via onboard sensor networks; (ii) coordination and control of mechatronic multi-agent (vehicle/robot/work unit) systems (MASs); (iii) extremum seeking. For such tasks, the program will develop widely applicable sets of (a) effective distributed high level algorithms, (b) sensor and actuator network architectures, and (c) low level practical controllers for running the algorithms on various mechatronic MASs. All outcomes will be produced with guaranteed stability, performance, and robustness, via constructive mathematical analysis and real-time testing and verification on automotive, multi-vehicle, reconfigurable robot, and sensor network test platforms.