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A UNIFIED APPROACH TO VEHICLE DESIGN, CONTROL, AND FLIGHT PATH OPTIMIZATION
- Publisher
- Inderscience Publishers
- Copyright
- Copyright © Inderscience Enterprises Ltd. All rights reserved
- ISSN
- 1755-9340
- eISSN
- 1755-9359
- DOI
- 10.1504/IJSCC.2010.031162
- Publisher site
- See Article on Publisher Site
Abstract
The goal of this paper is to design and analyse distributed decentralised control laws for a team of robots performing collective plume tracing based on Hamiltonian surface shaping, information theory, and exergy/entropy control. The process begins with the design of a kinematic controller based on the application of static and dynamic stability concepts and exergy/entropy control. The process is completed with the design of a kinetic controller based on Hamiltonian surface shaping with physical and information exergies in the form of control potentials that determine the accessible phase space of the power flow controller. The resulting kinetic controller is evaluated using Fisher Information.
Journal
International Journal of Systems, Control and Communications – Inderscience Publishers
Published: Jan 1, 2010