Optimization and Control of Cyber-Physical Vehicle Systems

Sensors

Justin M. Bradley¹  Ella M. Atkins² 

[1] Computer Science and Engineering Department, University of Nebraska - Lincoln, 256 Avery Hall, Lincoln, NE 68588, USA;Aerospace Engineering Department, University of Michigan, 1320 Beal Ave, Ann Arbor, MI 48109, USA; E-Mail:

关键词: cyber-physical systems;    control;    real-time control;    optimization;    optimal control;    robotics;   

DOI  :  10.3390/s150923020

来源: mdpi

【 摘 要 】

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.