By A.Stephen Morse

ISBN-10: 3540760970

ISBN-13: 9783540760979

A logic-based switching controller is one whose subsystems comprise not just usual dynamical elements similar to integrators, summers, profits and so on. yet event-driven common sense and linked switches besides. In this sort of approach the predominantly logical part is the manager, mode changer, and so on. there was transforming into curiosity lately in choosing what may be received from making use of "hybrid" controllers of this sort. To this finish a workshop used to be hung on Block Island with the purpose of bringing jointly members to debate the learn and customary curiosity within the box. This quantity not just contains contributions from those that have been current at Block Island but in addition extra fabric from those that weren't. issues coated comprise: hybrid dynamical structures, regulate of hard-bound limited and nonlinear platforms, automobile difficulties concerning switching keep an eye on and procedure regulate within the face of large-scale modeling error.

Show description

Read Online or Download Control Using Logic-Based Switching PDF

Similar robotics & automation books

Innovations in Robot Mobility and Control

There exists relatively an enormous literature on cellular robots, overlaying primary ideas on movement keep watch over and path-planning in indoor environments utilizing ultrasonic/laser transducers. even if, there's a shortage of books/collective records on imaginative and prescient dependent navigation of cellular robots and multi-agent structures.

The ROV Manual: A User Guide for Observation Class Remotely Operated Vehicles

Many underwater operations that have been as soon as conducted through divers can now be conducted extra successfully and with much less chance with Remotely Operated cars (ROVs). this is often the 1st ROV 'how-to' handbook for these concerned with smaller statement type ROVs used for surveying, inspection, remark and examine reasons.

Control in robotics and automation : sensor-based integration

Microcomputer know-how and micromechanical layout have contributed to fresh swift advances in Robotics. specific advances were made in sensor know-how that permit robot structures to assemble facts and react "intelligently" in versatile production platforms. The research and recording of the knowledge are important to controlling the robotic.

Vehicle Dynamics and Control

Motor vehicle Dynamics and regulate presents a complete assurance of car regulate structures and the dynamic versions utilized in the improvement of those keep an eye on structures. The regulate method functions lined within the booklet comprise cruise keep an eye on, adaptive cruise keep watch over, ABS, automatic lane maintaining, computerized road platforms, yaw balance keep watch over, engine keep watch over, passive, energetic and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electrical cars.

Additional resources for Control Using Logic-Based Switching

Sample text

In Proceedings of the 32nd IEEE Conference on Decision and Control, pages 294-299, San Antonio, Texas, 1993. [15] J. A. J. D. Lemmon. Digital control from a hybrid perspective. In Proceedings of the 33rd IEEE Conference on Decision and Control, pages 4241-4246, Lake Buena Vista, FL, 1994. [16] H. J. Sussmann. Regular synthesis for time-optimal control of single-input real analytic systems in the plane. SIAM. J. , 25(5):11451162, September, 1987. [17] L. Tavernini. Differential automata and their discrete simulators.

Other popular techniques such as finite differences differ from NewtonRaphson in the way the search direction is computed to simplify the computational complexity of the algorithm. A different class of techniques proposed when solving VLSI circuit equations is based on the approximation of the nonlinear equations describing the circuit components with a piecewise linear map. Then the set of nonlinear equations describing the circuit is also piecewise linear but the boundaries of the different linear regions are implicitly defined by the boundaries of the linear regions of the circuit components.

In this case, a board containing the actual micro-processor that will be used in the application surrounded by interface circuitry is connected with actuators and sensors which are in turn hooked to a "box" containing DSPs that process the discretized set of equations describing the engine. Validation can now be performed allowing much more accurate and faster assessment of system behavior. 6 Concluding Remarks Issues about the high-level design of embedded controllers have been presented with particular emphasis on discrete abstractions.

Download PDF sample

Control Using Logic-Based Switching by A.Stephen Morse


by Robert
4.3

Rated 4.14 of 5 – based on 40 votes