總計畫: 具多個互動型動態代理器之大型網狀混合式控制系 統
Date Issued
2004-07-31
Date
2004-07-31
Author(s)
DOI
922213E002044
Abstract
Traditionally, the sensing subsystem and actuation subsystem are linked to the main CPU of
the control computer or some single-board micro-controller through some hardwiring and A/D,
D/A converters. As a result, the control algorithms can mostly be completed in real time. Recently,
due to dramatic renewal and improvement of the network technology, it is becoming a trend to
replace the above hardwire links by the network links, and it becomes an indispensable choice
especially when the number of units to be linked is enormous. However, it is well known that the
real-time response is hardly come by from the network linkage, which thereby causes burden in
the overall control performance. Intuitively, the resolve the real-time control dilemma is to
arbitrarily increase the bandwidth of the network. But the current technology, however, did not
support this request, and in fact such a problem can be overcome though ingeniously redesign of
the control architecture, the control algorithm and the control logic. This subproject is solely to
investigate and to verify the possibility of the mentioned solution alternative.
This subproject, among the present integrated project, is to play the role of guiding the
research of and integrating all the results from other subprojects. Specifically, the goal of this subproject is to provide a platform to test and to assess the theoretical results and technological
developments. Of course, this subproject can also have a role in highly motivating all the
execution of other subprojects. The proposition and development of this platform will proceed in
this three year integrated project step by step. In the beginning period, this subproject will
propose a large scale networked system consisting of multiple interactive dynamic subsystems.
An excellent choice is to choose a mobile manipulator as a dynamic agent, where the mobile
vehicle can move in a plane and can rotate whereas the manipulator can have three joints, i.e.,
with three degree-of-freedoms (DOF’s). Furthermore, each agent will have its own local
controller to control the vehicle and the manipulator. These many agents will then cooperate to
move a huge piece of large object, and the motion trajectory of the object as well as of each agent
will be determined by a remote controller through wireless network or be determined after
negotiation among various relevant agents. It is crucial that this dynamic network communication
will guarantee the force balance in a dynamic manner and in turn lead to full stability of the large
object as well as each relevant agent. It is noteworthy that the stability of the overall system has a
strong tie with the bandwidth, and therefore the present system indeed will fulfill the need by the
present integrated project.
After we have proposed the architecture of the agent in the first year, we will build the
prototype at the end of the same year. Next, in the 2nd year we will develop a large scale
simulation software to facilitate every subproject to assess its result on-line. On the 3rd year, we
will develop multiple prototype agents, so that all the subprojects can evaluate their results
performance experimentally and physically.
Subjects
Dynamic Agent
Mobile manipulator
Network Linkage
Software and hardware
testing platform
testing platform
Publisher
臺北市：國立臺灣大學電機工程學系暨研究所
Type
report
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