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Evolving systems: Control and stability inheritance in self-assembling structures.

机译：不断发展的系统：自组装结构中的控制权和稳定性继承。

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We propose a new framework called Evolving Systems to describe the autonomous self-assembly of actively controlled dynamical subsystems into an Evolved System with a higher purpose. We introduce Evolving Systems and explore the essential topics of the control and stability properties for such systems. The Evolving Systems framework developed in this thesis provides a scalable, modular architecture to model and analyze the subsystem components, their connections to other components, and the Evolved System.;Autonomous assembly of large, complex structures in space is one application of Evolving Systems. Future space missions will entail systems where the scale, complexity, and distance preclude astronaut assistance due to the inherent risks and costs. These considerations suggest the need for a framework and methods to advance the state of the art of autonomous assembly of complex systems. A critical requirement for autonomously assembled structures is that they remain stable during and after mating. The important topic of stability in Evolving Systems is the primary focus of this research. We introduce the key component controller design approach to maintain stability in Evolving Systems. One key component from the Evolving System is augmented with additional local control to achieve the goal of ensuring system stability during assembly. The other components of the Evolving System are left unchanged, enabling modular system design and reuse of components. We present simulation results demonstrating the successful use of these methods to maintain stability in illustrative examples.;Aerospace systems are difficult and costly to model, due to their complexity and their uncertain operating environments. The adaptive key component controller we present is well suited to poorly modeled systems because its gains adapt to the sensed system outputs. We develop an impedance-admittance formulation of the contact dynamics between components of an Evolving System to obtain sufficient conditions for successful application of key component controllers. We present important results related to the inheritance of stability, passivity, and dissipativity traits of Evolving Systems.
机译：我们提出了一个名为“进化系统”的新框架，以描述主动控制的动态子系统向具有更高目的的“进化系统”的自主组装。我们介绍了不断发展的系统，并探讨了此类系统的控制和稳定性属性的基本主题。本文开发的“演化系统”框架提供了一种可扩展的模块化体系结构，用于建模和分析子系统组件，它们与其他组件的连接以及“演化系统”。大空间中复杂的结构的自动组装是演化系统的一种应用。未来的太空飞行将需要这样的系统，在这种系统中，由于固有的风险和成本，其规模，复杂性和距离将无法为宇航员提供帮助。这些考虑表明需要一种框架和方法来推进复杂系统的自动组装的技术水平。对自动组装的结构的关键要求是它们在配合期间和之后保持稳定。不断发展的系统中的稳定性的重要课题是这项研究的主要重点。我们介绍了关键组件控制器设计方法，以保持不断发展的系统的稳定性。不断发展的系统增加了来自不断发展的系统的一个关键组件，以实现在组装过程中确保系统稳定性的目标。不断发展的系统的其他组件保持不变，从而实现模块化系统设计和组件的重用。我们在仿真示例中演示了成功使用这些方法来保持稳定性的仿真结果。航空航天系统由于其复杂性和不确定的运行环境而难以建模且成本很高。我们目前提供的自适应关键组件控制器非常适合于建模较差的系统，因为其增益适合于感测到的系统输出。我们开发了不断发展的系统的组件之间的接触动力学的阻抗导纳公式，从而为成功应用关键组件控制器提供了充分的条件。我们提出了与进化系统的稳定性，无源性和耗散性特征的遗传相关的重要结果。

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