Advanced control of network interconnected systems for high performance collaborative tasks

该项目旨在实现高性能的协作任务，这些任务在航空航天，军事应用，制造，运输和医疗保健服务等应用领域要求很高。先进的控制网络互联系统的协作任务，如多智能体系统和多边遥操作系统，解决了公认的主要综合挑战和控制研究人员面临的机遇之一。本课题组在以往的研究工作中，成功地开发了各种鲁棒非线性控制方法，用于单通信回路的远程控制系统。该建议不是远程操作单个系统，而是处理通过网络互连的子系统的系统。注意，现有的工作集中在标量代理没有动力学或点质量模型，集中控制架构和整个系统在一个可靠的网络环境中运行。还有许多问题没有得到很好的解决，如动力学，协调机制，环境变化或干扰，不完善的传感器，通信约束，性能评价指标。

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.