Citation
Jackson, W. B.; Fromherz, M. P. J.; Biegelsen, D. K.; Reich, J. E.; Goldberg, D. Constrained optimization based control of real time large-scale systems: airjet object movement system. Proceedings of the 40th IEEE Conference on Decision and Control; 2001 December 4-7; Orlando, FL. Piscataway, NJ: IEEE; 2001; 5: 4717-4720.
Abstract
The control of real-time, nonlinear, large-scale systems – systems with large aggregations of sensors and actuators – is seldom explored in actual operating physical systems. In such many-element systems, control issues such as actuation allocation, fusion of sensor data, and system identification emerge as challenging problems for large-scale system control. In this work, constrained optimization is used to solve these problems as applied to the control of an object-moving system with 1,152 actuators and 32,000 sensors with a 2 ms control loop time. Solutions for allocating actuation among large numbers of actuators using hierarchical constrained optimization and fusing the output of many sensors into a small number of final measurements under tight real-time constraints have been developed.
This paper demonstrates that hyper-redundant systems are capable of system self-identification, and that constrained optimization can effectively solve problems associated with control of many-element systems.
