Intelligent Supervisory Control Architecture for Health Mon

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N/A
Agency Tracking Number: 40201
Amount: $69,440.00
Phase: Phase I
Program: STTR
Awards Year: 1998
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
1160 Pepsi Place, Suite 300, Charlottesville, VA, 22901
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 David G. Ward
 () -
Business Contact
 Roger L. Barron
Phone: () -
Research Institution
 Princeton University
 H. Vincent Poor 
 Department of Electrical Engineering
Princeton, NJ, 08544
 Nonprofit college or university
Autonomous control of uninhabited air vehicles (UAVs) presents a number of challenges, including detecting failures across the entire flight regime/mission envelope, differentiating between behavioral changes due to failures and those due to uncertainties, real-time control law redesign, and real-time modification of UAV trajectories and sensor-allocation strategies. Barron Associates, Inc. proposes to address these challenges by developing supervisory control architectures that provide (1) robust failure detection across multiple regimes with relatively little a priori training and (2) on-line control redesign and mission replanning in the event of a failure. The proposed system uses a small number of performance models having parameters that vary as functions of flight regime. Multivariate model validation and statistical change detection algorithms are used to determine the validity of the model(s) given changing noise levels. On-line parameter identification is used to modify the parameters of some models and provide on-line reconfiguration capabilities. The best system model is used by (1) an inner-loop model-predictive that computes optimal control gains and (2) an outer-loop reinforcement learning supervisor that computes optimal sensor configurations and trajectory strategies for fulfilling mission objectives to the extent possible given the nature of unforeseen failure(s).

* Information listed above is at the time of submission. *

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