Explaining finite state machine characteristics using variable structure control

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Description

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.

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11 p.

Creation Information

Feddema, J. T.; Robinett, R. D. & Driessen, B. J. October 1, 1997.

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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 26 times , with 7 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 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.

Physical Description

11 p.

Notes

OSTI as DE98000383

Source

  • SPIE`s intelligent systems and advanced manufacturing symposium: microrobotics and microsystem fabrication conference, Pittsburgh, PA (United States), 14-17 Oct 1997

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  • Other: DE98000383
  • Report No.: SAND--97-2534C
  • Report No.: CONF-971086--
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 642700
  • Archival Resource Key: ark:/67531/metadc698945

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • October 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

Description Last Updated

  • May 5, 2016, 7:27 p.m.

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Feddema, J. T.; Robinett, R. D. & Driessen, B. J. Explaining finite state machine characteristics using variable structure control, article, October 1, 1997; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc698945/: accessed November 24, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.