Software Enabled Control. Design of Hierarchical, Hybrid Systems

摘要

The objective of this effort is to develop a hybrid control theory for multiple UAVs. Specifically, to develop: (A) A hybrid interface between discrete and continuous systems, (B) A coordination algorithm for UAVs with distributed sensors. Application areas are air traffic control and satellite formation flight. (1) Real time hybrid system analysis and controller design, (2) Distributed sensing systems, and (3) Asynchronous control theory. Hybrid design (1) is based on solving a constrained optimization problem. This is solved using LMIs with ellipsoidal bounding. The discrete modes use a theorem proven to validate that the modes transition correctly. Distributed sensing (2) is based on precision control of formations of UAVs or satellites with SAR or optical interferometry. Coordinated video ad motion is used to estimate position and resolve conflicts. Asynchronous theory (3) is needed for an effective distributed control architecture. Data is time stamped and weighed with value over time.