Explaining finite state machine characteristics using variable structure control

John T. Feddema; Rush D. Robinett III; Brian J. Driessen

doi:10.1117/12.287654

22 September 1997 Explaining finite state machine characteristics using variable structure control

John T. Feddema, Rush D. Robinett III, Brian J. Driessen

Proceedings Volume 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; (1997) https://doi.org/10.1117/12.287654
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

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 we can then begin to design provable 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.

Citation Download Citation

John T. Feddema, Rush D. Robinett III, and Brian J. Driessen "Explaining finite state machine characteristics using variable structure control", Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); https://doi.org/10.1117/12.287654

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