Markert-Based Control of Active Surfaces

摘要

This paper describes a market-based approach to controlling a smart matter-based object transport system, in which an array of distributed air jets applies forces to levitate and control the motion of a planar object. In the smart matter regime, the effects of spatial and temporal variation of operating parameters among a multiplicity of senros, actuators, and controllers make it desirable for a control strategy to exhibit a minimal dependence on system models, and to be able to arbitrate among conflicting goals. A market-based strategy is introduced that aggregates the control requrests of multiple relatively simple local contrllers, each of which seeks to optimize the performance of the system within a limited spatial and temporal range.