Explaining finite state machine characteristics using variable structure control
Conference
·
OSTI ID:642700
This paper describes how variable structure control can be used to describe the overall behavior of multiple autonomous robotic vehicles with simple finite state machine rules. The importance of this result is that it allows for the design of provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with variable structure control. The ability to prove convergence to a goal is especially important for applications such as locating military targets or land mines.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE Assistant Secretary for Management and Administration, Washington, DC (United States); USDOE Office of Financial Management and Controller, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 642700
- Report Number(s):
- SAND-97-2534C; CONF-971086-; ON: DE98000383; TRN: AHC2DT02%%26
- Resource Relation:
- Conference: SPIE`s intelligent systems and advanced manufacturing symposium: microrobotics and microsystem fabrication conference, Pittsburgh, PA (United States), 14-17 Oct 1997; Other Information: PBD: Oct 1997
- Country of Publication:
- United States
- Language:
- English
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