Hierarchical Hybrid System Design of Flight Management …飞行管理层次混合系统设计….pptVIP

5/99 DARPA Software Enabled Control, UC Berkeley Hybrid System Design and Implementation Methodologies for Multi-Vehicle Multi-Modal Control Shankar Sastry, Thomas Henzinger and EdwardLee Alberto Sangiovanni Vincentelli Department of Electrical Engineering and Computer Sciences University of California at Berkeley Statement of Work Thrust I: Experimental Evaluation of Multi-Vehicle Control System Designs. Run Time Executions: 1. Mode Switching in UAVs: flight envelop protection, survivability in normal modes of operation. 2. Degraded Modes of Operation: loss of communication, loss of individual sensors, actuators. 3. Multiple UAV Coordination: formation flying, pursuit-evasion scenarios. Thrust II Multi-modal Control Derivation and Analysis. Design Tools. Design Tools: 1. Algorithmic Analysis for Nonlinear Hybrid Control 2. Hierarchical Hybrid Control Design, Modular techniques 3. Model Reduction and Conservative Approximatons Statement of Work Part II Thrust III: Hybrid Model Simulation and Implementation on the Open Control Platform. Run Time Implementation. 1. Hybrid Multi-Vehicle Model Simulation: mixed models of computation. 2. Structuring Mechanisms for Hybrid Models: for managing complexity. 3. Executability of Hybrid Models: determinacy, receptiveness. 4. Architectural Mapping and Real time Analysis of Hybrid Control Designs: mapping “proven” designs onto OCP and to provide “guarantees” for different implementations: synchronous at low level, Corba/Tao at networked level? 5. Robustness and Error Analysis of Hybrid Control Designs. Statement of Work Part II Thrust III: Hybrid Model Simulation and Implementation on the Open Control Platform. Run Time Implementation. 1. Hybrid Multi-Vehicle Model Simulation: mixed models of computation. 2. Structuring Mechanisms for Hybrid Models: for managing complexity. 3. Executability of Hybrid Models: determinacy, receptiveness. 4. Architectural Mapping and Real time Analysi