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Cyber-Physical Systems Virtual Organization
Read-only archive of site from September 29, 2023.
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Projects
CPS: Synergy: Collaborative Research: Computationally Aware Cyber-Physical Systems
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Submitted by Ricardo Sanfelice on Tue, 04/12/2016 - 7:20am
Project Details
Lead PI:
Ricardo Sanfelice
Performance Period:
09/15/15
-
08/31/19
Institution(s):
University of California-Santa Cruz
Sponsor(s):
National Science Foundation
Award Number:
1544396
1147 Reads. Placed 309 out of 804 NSF CPS Projects based on total reads on all related artifacts.
Abstract:
The objective of this work is to generate new fundamental science that enables the operation of cyber-physical systems through complex environments. Predicting how a system will behave in the future requires more computing power if that system is complex. Navigating through environments with many obstacles could require significant computing time, which may delay the issue of decisions that have to be made by the on-board algorithms. Fortunately, systems do not always need the most accurate model to predict their behavior. This project develops new theory for deciding between the best model to use when making a decision in real time. The approach involves switching between different predictive models of the system, depending on the computational burden of the associated controller, and the accuracy that the predictive model provides. These tools will pave the way for more kinds of aircraft to navigate closely and safely with one another through the National Air Space (NAS), including Unmanned Air Systems (UAS). The results from this project will enable more accurate and faster trajectory synthesis for controllers with nonlinear plants, or nonlinear constraints that encode obstacles. The approach utilizes hybrid control to switch between models whose accuracy is normalized by their computational burden of predictive control methods. This synergistic approach enables computationally-aware cyber-physical systems (CPSs), in which model accuracy can be jointly considered with computational requirements. The project advances the knowledge on modeling, analysis, and design of CPSs that utilize predictive methods for trajectory synthesis under constraints in real-time cyber-physical systems. The results will include methods for the design of algorithms that adapt to the computational limitations of autonomous and semi-autonomous systems while satisfying stringent timing and safety requirements. With these methods come new tools to account for computational capabilities in real-time, and new hybrid feedback algorithms and prediction schemes that exploit computational capabilities to arrive at more accurate predictions within the time constraints. The algorithms will be modeled in terms of hybrid dynamical systems, to guarantee dynamical properties of interest. The problem space will draw from models of UAS in the NAS.
Related Artifacts
Presentations
CPS: Synergy: Collaborative Research: Computationally Aware Cyber-Physical Systems
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Posters
Computationally Aware Cyber-Physical Systems
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Synergy: Collaborative Research: Computationally Aware Cyber-Physical Systems
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Publications
On Robust Stability of Limit Cycles for Hybrid Systems With Multiple Jumps
Hybrid Feedback Control Methods for Robust and Global Power Conversion
Results on Stability and Robustness of Hybrid Limit Cycles for A Class of Hybrid Systems
Synchronization of Two Linear Systems over Intermittent Communication Networks with Robustness
On Notions and Sufficient Conditions for Forward Invariance of Sets for Hybrid Dynamical Systems
Constructing distance functions and piecewise quadratic Lyapunov functions for stability of hybrid trajectories
On Necessary and Sufficient Conditions for Incremental Stability of Hybrid Systems using the Graphical Distance between Solutions
A Hybrid Observer with a Continuous Intersample Injection in the Presence of Sporadic Measurements
Solution of a {R}iccati equation for the design of an observer contracting a {R}iemannian distance
How well-posedness of hybrid systems can extend beyond Zeno times
Autonomous Waypoint Transitioning and Loitering for Unmanned Aerial Vehicles via Hybrid Control
A Decentralized Consensus Algorithm for Distributed State Observers with Robustness Guarantees
Results on Finite Time Stability for A Class of Hybrid Systems
Robust Synchronization of Interconnected Linear Systems over Intermittent Communication Networks
Exponential Stabilization of a Vectored-Thrust Vehicle Using Synergistic Potential Functions
Computationally Tractable Implementations of Pointwise Minimum Norm State-Feedback Laws for Hybrid Systems
Robust Asymptotic Stabilization of Hybrid Systems using Control Lyapunov Functions
On Distributed Observers for Linear Time-invariant Systems Under Intermittent Information Constraints
On Distributed Intermittent Consensus for First-Order Systems with Robustness
Results on Feedback Design for Forward Invariance of Sets in Hybrid Dynamical Systems
Robust Hybrid Supervisory Control for Rendezvous and Docking of a Spacecraft
Notions and Sufficient Conditions for Pointwise Asymptotic Stability in Hybrid Systems
Detectability and Invariance Properties for Set Dynamical Systems
Sufficient Conditions for Asymptotic Stability and Feedback Control of Set Dynamical Systems
On Robust Forward Invariance of Sets for Hybrid Dynamical Systems
On Asymptotic Synchronization of Interconnected Hybrid Systems with Applications
On Conditions for The Existence of Hybrid Limit Cycles
A Hybrid Predictive Control Algorithm for Tracking in a Single-Phase DC/AC Inverter
Analysis of Event-triggered Control Algorithms using Hybrid Systems Tools
Hybrid Feedback for Global Asymptotic Stabilization on a Compact Manifold
Hybrid Robust Minimum-time Control for a Class of Non-Exponentially Unstable Planar Systems
Passivity Tools for Hybrid DAE Systems with Applications to Switched DAE Systems
Recurrent Attacks in a Class of Cyber-Physical Systems: Hybrid-Control Framework for Modeling and Detection
Interconnected Observers for Linear Systems to Improve Rate of Convergence and Robustness to Measurement Noise
Computationally-Aware Control of Autonomous Vehicles: A Hybrid Model Predictive Control Approach
Convergence of Nonlinear Observers on $\mathbbR^n$ with a Riemannian Metric (Part II)
Basic Properties and Characterizations of Incremental Stability Prioritizing Flow Time for a Class of Hybrid Systems
State Estimation of Linear Systems in the Presence of Sporadic Measurements
Distance function design and Lyapunov techniques for the stability of hybrid trajectories
Computationally-Aware Switching Criteria for Hybrid Model Predictive Control Of Cyber-Physical Systems
A Zero-crossing Detection Algorithm for Robust Simulation of Hybrid Systems Jumping on Surfaces
On an Invariance Principle for Differential-Algebraic Equations with Jumps and its Application to Switched Differential-Algebraic Equations
Robust Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Inner-Outer Loop Control Paradigms
Hybrid Stabilization of Linear Systems with Reverse Polytopic Input Constraints
A Hybrid Control Strategy for Waypoint Transitioning and Loitering of Unmanned Aerial Vehicles
Robust Distributed Estimation for Linear Systems under Intermittent Information
Analysis and Design of Cyber-Physical Systems: A Hybrid Control Systems Approach
Incremental Graphical Asymptotic Stability for Hybrid Dynamical Systems
Hybrid Predictive Control
Robust Distributed Estimation and Synchronization for Linear Systems with Limited Information
Videos
Computationally Aware Cyber-Physical Systems
Synergy: Collaborative Research: Computationally Aware Cyber-Physical Systems
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