Advanced control of network interconnected systems for high performance collaborative tasks

该项目的目标是在航空航天、军事应用、制造、运输和医疗保健服务等应用领域实现高要求的高性能协作任务。针对协同任务的网络互联系统的高级控制，如多智能体系统和多边远程操作系统，解决了控制研究人员面临的公认的主要综合挑战和机遇之一。我们小组以前的研究已经成功地开发了用于远程控制系统的各种鲁棒非线性控制方法，其中一个通信回路涉及系统。这个建议不是远程操作单个系统，而是处理通过网络相互连接的子系统系统。请注意，现有的工作主要集中在没有动态或点质量模型的标量代理，集中控制架构和整个系统在可靠的网络环境中运行。系统动力学、对环境变化或干扰的协调机制、传感器不完善、通信约束、性能评价指标等问题尚未得到很好的解决。

This project targets on achieving high performance collaborative tasks which are highly demanding, in application areas such as aerospace, military applications, manufacturing, transportation and in health care services. Advanced control of network interconnected systems for collaborative tasks, such as multi-agent systems and multilateral teleoperation systems, addresses one of the recognized major integrated challenges and opportunities facing control researchers. Previous research in our group has been successful on developing various robust nonlinear control approaches for remotely controlled systems in which one communication loop is involved in the system. Instead of remotely operating a single system, this proposal is to deal with a system of subsystems interconnected over networks. Note that existing work focuses on scalar agent without dynamics or point-mass model only, centralized control architecture and the entire system operated in a reliable network environment. There are many issues have not been well addressed such as dynamics, coordination mechanism to environment changes or disturbance, imperfect sensors, communication constraints, and performance evaluation index.