Software-enabled control : information technology for dynamical systems

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[Hoboken, N.J.] : IEEE Press/Wiley-Interscience, 2003

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9780471234364

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Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010038900	TJ213 S63 2003	Open Access Book	Book	Searching... Unknown

Discusses open systems, object orientation, software agents, domain-specific languages, component architectures, as well as the dramatic IT-enabled improvements in memory, communication, and processing resources that are now available for sophisticated control algorithms to exploit. Useful for practitioners and researchers in the fields of real-time systems, aerospace engineering, embedded systems, and artificial intelligence.

Author Notes

Mukul Agrawal, Honeywell Laboratories, Minneapolis, Minnesota
Panos Antsaklis, University of Notre Dame, Indiana
Gary Balas, Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis
Antonio Baptista, Department of Environmental Science and Engineering, OGI School of Science & Engineering, OHSU, Beaverton, Oregon
John Bay, Information Exploitation Office, Defense Advanced Research Projects Agency, Arlington, Virginia
Alexander Bayen, Aeronautics and Astronautics, Stanford University, California
Raktim Bhattacharya, Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis
Gautam Biswas, Institute for Software Integrated Systems, Vanderbilt University, Nashville, Tennessee
Alexander A. Bogdanov, Department of Electrical and Computer Engineering, OGI School of Science & Engineering, OHSU, Beaverton
Stephen P. Boyd, Electrical Engineering, Stanford University, California
Mark Campbell, Mechanical & Aerospace Engineering, Cornell University, Ithaca, New York
Magnus Carlsson, Department of Computer Science & Engineering, OGI School of Science & Engineering, OHSU, Beaverton, Oregon
Darren Cofer, Honeywell Laboratories, Minneapolis, Minnesota
David E. Corman, The Boeing Company, St. Louis, Missouri
Munther A. Dahleh, Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge
William B. Dunbar, Control and Dynamical Systems, California Institute of Technology, Pasadena
Johan Eker, Electrical Engineering and Computer Sciences, University of California, Berkeley
Eric Feron, Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge
Ryan Franz, Electrical and Computer Engineering, University of Colorado, Boulder
Emilio Frazzoli, Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign
Helen Gill, Embedded and Hybrid Systems, National Science Foundation, Arlington, Virginia
Murat Guler, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
John Hauser, Electrical and Computer Engineering, University of Colorado, Boulder
Bonnie Heck, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
Thomas A. Henzinger, Electrical Engineering and Computer Sciences, University of California, Berkeley
Benjamin Horowitz, Electrical Engineering and Computer Sciences, University of California, Berkeley
Ali Jadbabaie, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia
Mikael Johansson, Aeronautics and Astronautics, Stanford University, California
Suresh Kannan, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta
Gabor Karsai, Institute for Software Integrated Systems, Vanderbilt University, Nashville, Tennessee
Richard Kieburtz, Department of Computer Science & Engineering, OGI School of Science & Engineering, OHSU, Beaverton, Oregon
Christoph M. Kirsch, Electrical Engineering and Computer Sciences, University of California, Berkeley
T. John Koo, Electrical Engineering and Computer Sciences, University of California, Berkeley
Xenofon D. Koutsoukos, Palo Alto Research Center, California
Tamas Kovacshazy, Measurement and Information Systems, Technical University of Budapest, Hungary
Edward A. Lee, Electrical Engineering and Computer Sciences, University of California, Berkeley, California
Xiaojun Liu, Electrical Engineering and Computer Sciences, University of California, Berkeley, California
Jie Liu, Electrical Engineering and Computer Sciences, University of California, Berkeley, California
Brian R. Mendel, The Boeing Company, Berkeley, Missouri
Mark B. Milam, California Institute of Technology, Pasadena
Richard M, Murray, Control and Dynamical Systems, California Institute of Technology, Pasadena
Sriram Harasimhan, Institute for Software Integrated Systems, Vanderbilt University, Nashville, Tennessee
George J. Pappas, Electrical Engineering, University of Pennsylvania, Philadelphia
Tal Pasternak, Institute for Software Integrated Systems, Vanderbilt University, Nashville, Tennessee
James L. Paunicka, The Boeing Company, Berkeley, Missouri
Gabor Peceli, Measurement and Information Systems, Technical University of Budapest, Hungary
Nicolas Petit, Centre Automatique et Systemes, Ecole Nationale Superieure des Mines de Paris, France
J. V. R. Prasad, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta
Freeman Rufus, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
Tariq Samad, Honeywell Laboratories, Minneapolis, Minnesota
Sam Sander, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
Shanker Sastry, Electrical Engineering and Computer Sciences, University of California, Berkeley
Daniel Schrage, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta
Gyula Simon, Technical University of Budapest, Hungary
Tivadar Szernethy, Institute for Software Integrated Systems, Vanderbilt University, Nashville, Tennessee
Claire Tomlin, Aeronautics and Astronautics, Stanford University, California
George Vachtsevanos, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
Dale W. Van Cleave, AFRL/IFSC, Wright-Patterson AFB, Ohio
Eric A. Wan, Department of Electrical and Computer Engineering, OHSU, Beaverton, Oregon
Linda Wills, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta
Lin Xiao, Electrical Engineering, Stanford University, Stanford, California
Ilkay Yavrucuk, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta
Yinglong Zhang, Department of Environmental Science and Engineering, OGI School of Science & Engineering, OHSU, Beaverton, Oregon
Mike Zulauf, Department of Environmental Science and Engineering, OGI School of Science & Engineering, OHSU, Beaverton, Oregon

Reviews 1

Choice Review

Editors Samad and Balas and the individual contributors to this work have done a superb job by providing a comprehensive treatment of the subject matter. The book begins with a discussion on unmanned aerial vehicles (UAVs); continues with software architectures for real-time control, online modeling and control, and hybrid dynamical systems; and concludes with next-generation computing platforms. Many prominent university professors and industry researchers have contributed to the content of this excellent book. This an invaluable resource for research scientists, practicing engineers involved in modern control engineering, and graduate and undergraduate students majoring in control engineering. Academic, corporate, and main libraries cannot afford to be without a copy of this outstanding publication. ^BSumming Up: Essential. Upper-division undergraduates through professionals. S. T. Karris University of California, Berkeley

Helen Gill and John BayDale W. Van CleaveTariq Samad and Gary BalasJames L. Paunicka and Brian R. Mendel and David E. CormanL. Wills and S. Kannan and S. Sander and M. Guler and B. Heck and J. V. R. Prasad and D. Schrage and G. VachtsevanosMukul Agrawal and Darren Cofer and Tariq SamadXiaojun Liu and Jie Liu and Johan Eker and Edward A. LeeThomas A. Henzinger and Benjamin Horowitz and Christoph Meyer KirschRichard M. Murray and John Hauser and Ali Jadbabaie and Mark B. Milam and Nicolas Petit and William B. Dunbar and Ryan FranzEric A. Wan and Alexander A. Bogdanov and Richard Kieburtz and Antonio Baptista and Magnus Carlsson and Yinglong Zhang and Mike ZulaufMark E. Campbell and Eelco Scholte and Shelby BrunkeGeorge Vachtsevanos and Freeman Rufus and J. V. R. Prasad and Ilkay Yavrucuk and Daniel Schrage and Bonnie Heck and Linda WillsRaktim Bhattacharya and Gary J. BalasPanos J. Antsaklis and Xenofon D. KoutsoukosEmilio Frazzoli and Munther A. Dahleh and Eric FeronT. John Koo and George J. Pappas and Shankar SastryGabor Karsai and Gautam Biswas and Sriram Narasimhan and Tal Pasternak and Sherif Abdelwahed and Tivadar Szemethy and Gabor Peceli and Gyula Simon and Tamas KovacshazyClaire J. Tomlin and Stephen P. Boyd and Ian Mitchell and Alexandre Bayen and Mikael Johansson and Lin XiaoTariq Samad and Gary Balas

Contributors	p. xiii
Preface	p. xix
I Introduction	p. 1
1 The Sec Vision	p. 3
1.1 The Legacy of Control Techniques	p. 3
1.2 The Legacy of Control Software	p. 4
1.3 A New Perspective on Software and Control	p. 4
1.4 Software Enabled Control Focus Areas	p. 5
1.5 The DARPA Software Enabled Control Program	p. 7
2 Trends and Technologies for Unmanned Aerial Vehicles	p. 9
2.1 Introduction	p. 9
2.2 UAV Background	p. 9
2.3 The Promise of UAVs	p. 14
2.4 Support for Development	p. 18
2.5 Difficulties	p. 19
2.6 Achieving Some Success	p. 21
2.7 UAV Development Considerations	p. 22
2.8 Looking Forward	p. 23
References	p. 25
3 Previewing the Software-Enabled Control Research Portfolio	p. 27
3.1 Introduction	p. 27
3.2 Part II: Software Architecture for Real-Time Control	p. 29
3.3 Part III: Online Modeling and Control	p. 31
3.4 Part IV: Hybrid Dynamical Systems	p. 33
3.5 Conclusion	p. 35
II Software Architectures for Real-Time Control	p. 37
4 Open Control Platform: A Software Platform Supporting Advances in Uav Control Technology	p. 39
4.1 Introduction	p. 40
4.2 OCP Goals and Background	p. 41
4.3 OCP Overview	p. 43
4.4 OCP Features	p. 44
4.5 Optimizations in Support of Real-Time Performance	p. 51
4.6 Current State of the OCP	p. 56
4.7 OCP Performance	p. 58
4.8 Future OCP Directions	p. 59
4.9 Summary	p. 60
References	p. 61
5 A Prototype Open Control Platform for Reconfigurable Control Systems	p. 63
5.1 Introduction	p. 64
5.2 Current Practice in Control System Configurations	p. 65
5.3 Open-Control Platform Design	p. 69
5.4 A Prototype Open Control Platform	p. 77
5.5 Ongoing Work and Open Issues	p. 79
References	p. 82
6 Real-Time Adaptive Resource Management for Multimodel Control	p. 85
6.1 Introduction	p. 86
6.2 The Problem Space	p. 87
6.3 Resource Optimization	p. 88
6.4 Anytime Task Scheduling	p. 89
6.5 UAV Route Optimization	p. 91
6.6 Application of Active Multimodel Architecture	p. 95
6.7 Multiresolution Optimization	p. 97
6.8 Simulation Framework	p. 100
6.9 Conclusion	p. 102
References	p. 103
7 Heterogeneous Modeling and Design of Control Systems	p. 105
7.1 Introduction	p. 106
7.2 Software Complexity in Control Systems	p. 107
7.3 The Ptolemy II Model Structure	p. 109
7.4 Concurrent Models of Computation for Control Systems	p. 112
7.5 Modal Models	p. 114
7.6 Application: Inverted Pendulum Controller	p. 116
7.7 Conclusion	p. 119
References	p. 120
8 Embedded Control Systems Development with Giotto	p. 123
8.1 Introduction	p. 124
8.2 The Giotto Programming Language	p. 127
8.3 A Distributed Hard Real-Time Control Problem	p. 131
8.4 A Giotto Program	p. 133
8.5 Semiautomatic Compilation with Annotated Giotto	p. 136
8.6 Summary and Related Work	p. 139
Appendix A Giotto Program with Annotations	p. 141
References	p. 144
III Online Modeling and Control	p. 147
9 Online Control Customization Via Optimization-Based Control	p. 149
9.1 Introduction	p. 150
9.2 Mathematical Preliminaries	p. 152
9.3 Optimization-Based Control	p. 155
9.4 Real-Time Trajectory Generation and Differential Flatness	p. 160
9.5 Implementation on the Caltech Ducted Fan	p. 163
9.6 Summary and Conclusion	p. 172
References	p. 173
10 Model Predictive Neural Control for Aggressive Helicopter Maneuvers	p. 175
10.1 Introduction	p. 176
10.2 MPC Control	p. 177
10.3 MPNC	p. 180
10.4 Experimental Results	p. 189
10.5 Conclusion	p. 198
References	p. 198
11 Active Model Estimation for Complex Autonomous Systems	p. 201
11.1 Introduction	p. 202
11.2 Preliminaries: Joint and Dual Estimation	p. 204
11.3 Robust Nonlinear Stochastic Estimation	p. 205
11.4 Nonlinear Bounded Set Estimation	p. 211
11.5 Simulation Results: F-15-like Simulation	p. 217
11.6 Conclusion	p. 222
References	p. 223
12 An Intelligent Methodology for Real-Time Adaptive Mode Transitioning and Limit Avoidance of Unmanned Aerial Vehicles	p. 225
12.1 Introduction	p. 226
12.2 Real-Time Adaptation of Mode Transition Controllers	p. 229
12.3 Hover to Forward Flight Example	p. 235
12.4 Limit Detection and Limit Avoidance	p. 238
12.5 Adaptive Limit Detection	p. 239
12.6 Automatic Limit Avoidance for UAVs	p. 247
12.7 Performance Assessment and Implementation Issues	p. 249
12.8 Conclusion	p. 249
References	p. 250
13 Implementation of Online Control Customization within the Open Control Platform	p. 253
13.1 Introduction	p. 254
13.2 What is the OCP?	p. 255
13.3 F-16 Aircraft Model	p. 256
13.4 Integration of Matlab with OCP	p. 257
13.5 Simulink to OCP Components	p. 266
13.6 Asynchronous Systems and Simulink Models	p. 268
13.7 Conclusion	p. 269
References	p. 270
IV Hybrid Dynamical Systems	p. 271
14 Hybrid Systems: Review and Recent Progress	p. 272
14.1 Hybrid System Models	p. 274
14.2 Approaches to the Analysis and Design of Hybrid Systems	p. 277
14.3 Hybrid Automata	p. 278
14.4 Stability and Design of Hybrid Systems	p. 285
14.5 Supervisory Control of Hybrid Systems	p. 289
14.6 Conclusion	p. 295
References	p. 295
15 A Maneuver-Based Hybrid Control Architecture for Autonomous Vehicle Motion Planning	p. 299
15.1 Introduction	p. 300
15.2 System Dynamics	p. 302
15.3 Problem Formulation	p. 303
15.4 Maneuver Automaton	p. 305
15.5 Motion Planning in the Maneuver Space	p. 312
15.6 Example: Three-Degree-of-Freedom Helicopter	p. 315
15.7 Conclusion	p. 321
References	p. 321
16 Multimodal Control of Constrained Nonlinear Systems	p. 325
16.1 Introduction	p. 325
16.2 Formulation of Multimodal Control Problem	p. 327
16.3 A Mode Switching Condition	p. 330
16.4 Mode Sequence Synthesis	p. 332
16.5 Multimodal Control of a Helicopter-Based UAV	p. 334
16.6 Hybrid and Embedded System Models	p. 339
16.7 Conclusion	p. 342
References	p. 344
17 Towards Fault-Adaptive Control of Complex Dynamical Systems	p. 347
17.1 Introduction	p. 348
17.2 FACT Architecture	p. 349
17.3 Modeling Hybrid Systems and Controllers	p. 351
17.4 The Hybrid Observer	p. 355
17.5 Approaches to Fault Detection and Isolation	p. 356
17.6 Controller Selection	p. 364
17.7 Conclusion and Future Work	p. 365
References	p. 366
18 Computational Tools for the Verification of Hybrid Systems	p. 369
18.1 Introduction	p. 370
18.2 Hybrid System Model	p. 370
18.3 Exact Reach Set Computation Using Level Sets	p. 372
18.4 Overapproximations of Reachable Sets	p. 386
18.5 Summary	p. 390
References	p. 390
V Conclusions	p. 393
19 The Outlook for Software-Enabled Control	p. 395
19.1 Next-Generation Computing Platforms for Real-Time Control	p. 396
19.2 Increasing Autonomy and Performance	p. 397
19.3 High-Confidence Control	p. 399
19.4 Multivehicle Coordination and Cooperation	p. 400
19.5 Integration of Planning and Control	p. 402
19.6 Design and Deployment Tools	p. 403
19.7 Final Words	p. 404
Index	p. 407
About the Editors	p. 419

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