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Proceedings Paper

Explaining finite state machine characteristics using variable structure control
Author(s): John T. Feddema; Rush D. Robinett III; Brian J. Driessen
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Paper 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.

Paper Details

Date Published: 22 September 1997
PDF: 9 pages
Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); doi: 10.1117/12.287654
Show Author Affiliations
John T. Feddema, Sandia National Labs. (United States)
Rush D. Robinett III, Sandia National Labs. (United States)
Brian J. Driessen, Sandia National Labs. (United States)

Published in SPIE Proceedings Vol. 3209:
Sensor Fusion and Decentralized Control in Autonomous Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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