Designing stable finite state machine behaviors using phase plane analysis and variable structure control

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Description

This paper discusses how phase plane analysis can be used to describe the overall behavior of single and multiple autonomous robotic vehicles with finite state machine rules. The importance of this result is that one can begin to design provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with decentralized variable structure control. The ability to prove asymptotically stable group behavior is especially important for applications such as locating military targets or land mines.

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10 p.

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Feddema, J.T.; Robinett, R.D. & Driessen, B.J. March 10, 1998.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 43 times , with 4 in the last month . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper discusses how phase plane analysis can be used to describe the overall behavior of single and multiple autonomous robotic vehicles with finite state machine rules. The importance of this result is that one can begin to design provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with decentralized variable structure control. The ability to prove asymptotically stable group behavior is especially important for applications such as locating military targets or land mines.

Physical Description

10 p.

Notes

OSTI as DE98002811

Source

  • 1998 IEEE international conference on robotics and automation, Leuven (Belgium), 16-21 May 1998

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  • Other: DE98002811
  • Report No.: SAND--98-0622C
  • Report No.: CONF-980537--
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 642721
  • Archival Resource Key: ark:/67531/metadc696781

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Office of Scientific & Technical Information Technical Reports

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  • March 10, 1998

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • May 23, 2016, 2:06 p.m.

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Feddema, J.T.; Robinett, R.D. & Driessen, B.J. Designing stable finite state machine behaviors using phase plane analysis and variable structure control, article, March 10, 1998; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc696781/: accessed September 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.