Real-Time Trajectory Generation and Tracking for Cooperative Control Systems

Transcription

1 Real-Tme Trajecor Generaon and Trackng for Cooperave Conrol Ssems Rchard Mrra Jason Hcke Calforna Inse of Technolog MURI Kckoff Meeng 14 Ma 2001 Olne I. Revew of prevos work n rajecor generaon and rackng II. Cooperave rajecor generaon va opmaon-based conrol III. Research plan and negraon

2 Trajecor Generaon and Trackng Usng Dfferenal Flaness Nonlnear desgn global nonlneares np saraon sae space consrans ref Trajecor Generaon d d Lnear desgn nose δ Plan P Lnear Conrol op Calech Dced Fan Approach: Two Degree of Freedom Desgn Use onlne rajecor generaon o consrc feasble rajecores Use schedled lnear conrol for performance and robsness For man flgh vehcles ssem s dfferenall fla redce dnamc ssem o algebrac eqvalen and generae feasble rajecores n real me Resls PRET + SEC Framework for eplong dfferenal flaness n real-me rajecor generaon Necessar and sffcen condons for flaness classes of mechancal ssems NTG sofware package for fne me opmal conrol n presence of consrans Implemenaon and esng on Calech dced fan Transons n progress o SEC Raheon MURI Kckoff 14 Ma 01 Rchard Mrra Calech 2

3 MURI Kckoff 14 Ma 01 Rchard Mrra Calech 3 Dced Fan Terran Avodance Real-Tme Trajecor Generaon / Opmaon Collocaon Flaness Qas-collocaon f = f = = α ψ = = = = q q p α ψ 0 p q h = Φ = Γ =

4 Opmaon-Based Conrol: MPC + CLF T T + T + T = arg mn q τ τ dτ + V + T [ ] = = + T 0 f = f g 0 d Onlne conrol csomaon Ssem: f Consrans/envronmen: g Mssson: L Updae n real-me o acheve reconfgrable operaon MURI Kckoff 14 Ma 01 Rchard Mrra Calech 4

5 Theor: MPC + CLF Approach * J 0 = mn q d + V T τ τ τ T 0 T Fne horon nf V + q 0 CLF cos o go Basc Idea Use onlne models o compe recedng horon opmal conrol CLF-based ermnal cos gves sabl + shor me horons Properes Can prove sabl n absence of consrans Incremenal mprovemen proper fne eraons OK Increased horon larger regon of aracon MURI Kckoff 14 Ma 01 Rchard Mrra Calech 5

6 Epermenal Resls: Calech Dced Fan NTG + MPC + CLF Pch Conrol dspace RTOS MURI Kckoff 14 Ma 01 Rchard Mrra Calech 6

7 Ml-Vehcle Opmaon-Based Conrol Assme we have real-me fne horon opmal conrol as a prmve + = arg mn L d+ V + T [ T] = = + T 0 + T f = f g 0 d Choose f g L o represen he coplng beween he varos sbssems Cooperaon depends on how we model res of he world q 1 = 0 1 L + T + = arg mn L q q d+ V 2[ T] = f g q 3 = 0 3 L Reconfgrable based on condon msson envronmen MURI Kckoff 14 Ma 01 Rchard Mrra Calech 7

8 Smlaon Eample: Formaon Flgh Task: Manan eqal spacng of vehcles arond crcle Follow desred rajecor for cener of mass Global MPC + CLF Local MPC + CLF Assme neghbors follow sragh lnes Parameers: Horon: 2 sec Updae: 0.5 sec Hgh dampng MURI Kckoff 14 Ma 01 Rchard Mrra Calech 8

9 Ml-Vehcle Opmaon-Based Conrol q 1 = 0 1 L + T + = arg mn L q q d+ V 2[ T] = f g q 3 = 0 3 L Open Qesons: Low Level Cooperaon How do we coordnae moon beween mlple vehcles? How do we aggregae cos fncons no herarches? How do we provde redndanc and falre olerance? How do we commncae beween vehcles and how ofen? How do we nsre scalabl o large nmbers of agens? How do we ncorporae adversaral acons? MURI Kckoff 14 Ma 01 Rchard Mrra Calech 9

10 Hgher Level Cooperaon: Rejon Eapmle Open Qesons: Hgher Level Isses How do we collecvel agree o rejon n a robs manner? How do we negrae proocol sack wh rajecor generaon/rackng How do we descrbe he specfcaon of he ask? How do we prove ha solon code sasfes he specfcaon? How do we prove sabl of he solon? How do we verf and valdae he solon? How do we nsre all of hs works n he presence of adversares? MURI Kckoff 14 Ma 01 Rchard Mrra Calech 10

11 Ml-Vehcle Wreless Tesbed for Inegraed Conrol Commncaons and Compaon DURIP Tesbed feares Dsrbed compaon on ndvdal vehcles + command and conrol console Pon o pon ad-hoc neworkng bleooh + local area neworkng Cooperave conrol n dnamc nceran and adversaral envronmens MURI Kckoff 14 Ma 01 Rchard Mrra Calech 11

12 Research Plan and Inegraon: Cooperave Conrol n Dnamc Unceran and Adversaral Envronmens Cooperave Conrol Lnked cos fncons Opmaon-Based Conrol Real-me model predcve conrol for onlne conrol csomaon: heor and sofware Onlne mplemenaon on Calech Dced Fan Sofware Envronmens Logcal programmng envronmens for embedded conrol ssems desgn Ml-Vehcle Tesbed DURIP Implemenaon on ml-vehcle wreless esbed sng Open Conrol Plaform Bleooh-based pon o pon commncaons wh ad-hoc neworkng MURI Kckoff 14 Ma 01 Rchard Mrra Calech 12