Decentralized estimation and control for multisensor systems:
Gespeichert in:
1. Verfasser: | |
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Format: | Buch |
Sprache: | English |
Veröffentlicht: |
Boca Raton [u.a.]
CRC Press
1998
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Schlagworte: | |
Online-Zugang: | Inhaltsverzeichnis |
Beschreibung: | 230 S. Ill., graph. Darst. |
ISBN: | 0849318653 |
Internformat
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100 | 1 | |a Mutambara, Arthur G. O. |e Verfasser |4 aut | |
245 | 1 | 0 | |a Decentralized estimation and control for multisensor systems |c Arthur G. O. Mutambara |
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Datensatz im Suchindex
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adam_text | DECENTRALIZED ESTIMATION AND CONTROL FOR MULTISENSOR SYSTEMS ARTHUR G.O.
MUTAMBARA CRC PRESS SSOCA RATON BOSTON LONDON NEW YORK WASHINGTON, D.C.
CONTENTS 1 INTRODUCTION 1 1.1 BACKGROUND 1 1.2 MOTIVATION 3 1.2.1
MODULAR ROBOTICS 4 1.2.2 THE MARS SOJOURNER ROVER 4 1.2.3 THE MIT
HUMANOID ROBOT (COG) 6 1.2.4 LARGE SCALE SYSTEMS 7 1.2.5 THE RUSSIAN MIR
SPACE STATION 7 1.2.6 THE SPACE SHUTTLE COLUMBIA 9 1.3 PROBLEM STATEMENT
12 1.4 APPROACH 13 1.4.1 ESTIMATION 13 1.4.2 CONTROL 13 1.4.3
APPLICATIONS 13 1.5 PRINCIPAL CONTRIBUTIONS 14 1.6 BOOK OUTLINE 15 2
ESTIMATION AND INFORMATION SPACE 19 2.1 INTRODUCTION 19 2.2 THE KAIMAN
FILTER 19 2.2.1 SYSTEM DESCRIPTION 20 2.2.2 KAIMAN FILTER ALGORITHM 21
2.3 THE INFORMATION FILTER 22 2.3.1 INFORMATION SPACE 22 2.3.2
INFORMATION FILTER DERIVATION 26 2.3.3 FILTER CHARACTERISTKS 28 2.3.4 AN
EXAMPLE OF LINEAR ESTIMATION 28 2.3.5 COMPARISON OF THE KAIMAN AND
INFORMATION FILTERS . 31 2.4 THE EXTENDED KAIMAN FILTER (EKF) 33 2.4.1
NONLINEAR STATE SPACE 34 2.4.2 EKF DERIVATION 34 2.4.3 SUMMARY OF THE
EKF ALGORITHM 38 2.5 THE EXTENDED INFORMATION FILTER (EIF) 39 2.5.1
NONLINEAR INFORMATION SPACE 39 2.5.2 EIF DERIVATION 40 2.5.3 SUMMARY OF
THE EIF ALGORITHM 43 2.5.4 FILTER CHARACTERISTICS 43 2.6 EXAMPLES OF
ESTIMATION IN NONLINEAR SYSTEMS 44 2.6.1 NONLINEAR STATE EVOLUTION AND
LINEAR OBSERVATIONS . 44 2.6.2 LINEAR STATE EVOLUTION WITH NONLINEAR
OBSERVATIONS 46 2.6.3 NONLINEAR STATE EVOLUTION WITH NONLINEAR
OBSERVATIONS 48 2.6.4 COMPARISON OF THE EKF AND EIF 51 2.7 SUMMARY 53 3
DECENTRALIZED ESTIMATION FOR MULTISENSOR SYSTEMS 55 3.1 INTRODUCTION 55
3.2 MULTISENSOR SYSTEMS 56 3.2.1 SENSOR CLASSIFICATION AND SELECTION 56
3.2.2 POSITIONS OF SENSORS IN A DATA ACQUISITION SYSTEM . 59 3.2.3 THE
ADVANTAGES OF MULTISENSOR SYSTEMS 60 3.2.4 DATA FUSION METHODS 61 3.2.5
FUSION ARCHITECTURES 62 3.3 DECENTRALIZED SYSTEMS 64 3.3.1 THE CASE FOR
DECENTRALIZATION 64 3.3.2 SURVEY OF DECENTRALIZED SYSTEMS 66 3.4
DECENTRALIZED ESTIMATORS 68 3.4.1 DECENTRALIZING THE OBSERVER 68 3.4.2
THE DECENTRALIZED INFORMATION FILTER (DIF) 69 3.4.3 THE DECENTRALIZED
KAIMAN FILTER (DKF) 72 3.4.4 THE DECENTRALIZED EXTENDED INFORMATION
FILTER (DEIF) 74 3.4.5 THE DECENTRALIZED EXTENDED KAIMAN FILTER (DEKF)
76 3.5 THE LIMITATIONS OF FULLY CONNECTED DECENTRALIZATION 77 3.6
SUMMARY 79 4 SCALABLE DECENTRALIZED ESTIMATION 81 4.1 INTRODUCTION 81
4.1.1 MODEL DISTRIBUTION 82 4.1.2 NODAL TRANSFORMATION DETERMINATION 82
4.2 AN EXTENDED EXAMPLE 83 4.2.1 UNSCALED INDIVIDUAL STATES 83 4.2.2
PROPORTIONALLY DEPENDENT STATES 86 4.2.3 LINEAR COMBINATION OF STATES 88
4.2.4 GENERALIZING THE CONCEPT 93 4.2.5 CHOICE OF TRANSFORMATION
MATRICES 94 4.2.6 DISTRIBUTION OF MODELS 94 4.3 THE MOORE-PENROSE
GENERALIZED INVERSE: T + 96 4.3.1 PROPERTIES AND THEOREMS OF T + 97
4.3.2 COMPUTATION OF T + 100 4.4 GENERALIZED INTERNODAL TRANSFORMATION
101 4.4.1 STATE SPACE INTERNODAL TRANSFORMATION: VJI(K) . . . 101 4.4.2
INFORMATION SPACE INTERNODAL TRANSFORMATION: TJJ(FC) 106 4.5 SPECIAL
CASCS OF TJJ(FE) . 108 4.5.1 SCALED ORTHONORMAL TJ.(FC) AND TJ(FE) 108
4.5.2 DIAGONAL LT( Z J(A;)) . 109 4.5.3 NONSINGULAR AND DIAGONAL
I+(ZJ(AE)) 109 4.5.4 ROW ORTHONORMAL CJ(FC) AND NONSINGULAR RJ(FC) . .
110 4.5.5 ROW ORTHONORMAL TI(FC) AND TJ(FC) 111 4.5.6 RECONSTRUCTION OF
GLOBAL VARIABLES 111 4.6 DISTRIBUTED AND DECENTRALIZED FILTERS 112 4.6.1
THE DISTRIBUTED AND DECENTRALIZED KAIMAN FILTER (DDKF) 112 4.6.2 THE
DISTRIBUTED AND DECENTRALIZED INFORMATION FILTER (DDIF) 114 4.6.3 THE
DISTRIBUTED AND DECENTRALIZED EXTENDED KAIMAN FILTER (DDEKF) 116 4.6.4
THE DISTRIBUTED AND DECENTRALIZED EXTENDED INFORMATION FILTER (DDEIF)
117 4.7 SUMMARY 119 5 SCALABLE DECENTRALIZED CONTROL 121 5.1
INTRODUCTION 121 5.2 OPTIMAL STOCHASTIC CONTROL 121 5.2.1 STOCHASTIC
CONTROL PROBLEM 122 5.2.2 OPTIMAL STOCHASTIC SOLUTION 123 5.2.3
NONLINEAR STOCHASTIC CONTROL 126 5.2.4 CENTRALIZED CONTROL 127 5.3
DECENTRALIZED MUITISENSOR BASED CONTROL 128 5.3.1 FULLY CONNECTED
DECENTRALIZED CONTROL 129 5.3.2 DISTRIBUTION OF CONTROL MODELS 131 5.3.3
DISTRIBUTED AND DECENTRALIZED CONTROL 132 5.3.4 SYSTEM CHARACTERISTICS
134 5.4 SIMULATION EXAMPLE 135 5.4.1 CONTINUOUS TIME MODELS 135 5.4.2
DISCRETE TIME GLOBAL MODELS 137 5.4.3 NODAL TRANSFORMATION MATRICES 138
5.4.4 LOCAL DISCRETE TIME MODELS 139 5.5 SUMMARY 140 6 MULTISENSOR
APPLICATIONS: A WHEELED MOBILE ROBOT 141 6.1 INTRODUCTION 141 6.2
WHEELED MOBILE ROBOT (WMR) MODEIMG 142 6.2.1 PLANE MOTION KINEMATICS 143
6.2.2 DECENTRALIZED KINEMATICS 145 6.3 DECENTRALIZED WMR CONTROL 149
6.3.1 GENERAL WMR SYSTEM MODELS 150 6.3.2 SPECIFIC W 7 MR IMPLEMENTATION
MODELS 152 6.3.3 DRIVEN AND STEERED UNIT (DSU) CONTROL 158 6.3.4
APPLICATION OF INTERNODAL TRANSFORMATION 159 6.4 HARDWARE DESIGN AND
CONSTRNETION 160 6.4.1 WMR MODULES 161 6.4.2 A COMPLETE MODULAR VEHICLE
163 6.4.3 TRANSPUTER ARCHITECTURE 165 6.5 SOFTWARE DEVELOPMENT 167 6.5.1
NODAL PROGRAM (COMMUNICATING CONTROL PROCESS) . 168 6.5.2 CONFIGURATION
PROGRAM (DECENTRALIZED CONTROL) ... 173 6.6 ON-VEHICLE SOFTWARE 174
6.6.1 NODAL SOFTWARE 174 6.6.2 DECENTRALIZED MOTOR CONTROL 176 6.6.3 WMR
TRAJECTORY GENERATION 176 6.7 SUMMARY 181 7 RESULTS AND PERFORMANCE
ANALYSIS 183 7.1 INTRODUCTION 183 7.2 SYSTEM PERFORMANCE CRITERIA 183
7.2.1 ESTIMATION CRITERIA 184 7.2.2 CONTROL CRITERIA 185 7.3 SIMULATION
RESULTS 186 7.3.1 INNOVATIONS 186 7.3.2 STATE ESTIMATES 187 7.3.3
INFORMATION ESTIMATES AND CONTROL 188 7.4 WMR EXPERIMENTAL RESULTS 189
7.4.1 TRAJECTORY TRACKING 190 7.4.2 INNOVATIONS AND ESTIMATED CONTROL
ERRORS 192 7.5 DISCUSSION OF RESULTS 204 7.5.1 LOCAI DSU INNOVATIONS 204
7.5.2 WHEEL ESTIMATED CONTROL ERRORS 206 7.5.3 WMR BODY ESTIMATES 206
7.6 SUMMARY 207 8 CONCLUSIONS AND FUTURE RESEARCH 209 8.1 INTRODUCTION
209 8.2 SUMMARY OF CONTRIBUTIONS 209 8.2.1 DECENTRALIZED ESTIMATION 210
8.2.2 DECENTRALIZED CONTROL 210 8.2.3 APPIICATIONS 210 8.3 RESEARCH
APPRAISAI 211 8.3.1 DECENTRALIZED ESTIMATION 211 8.3.2 DECENTRALIZED
CONTROL 213 8.4 FUTURE RESEARCH DIRECTIONS 213 8.4.1 THEORY 214 8.4.2
APPLICATIONS 215 BIBLIOGRAPHY 217 INDEX 227
|
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indexdate | 2024-07-09T18:22:53Z |
institution | BVB |
isbn | 0849318653 |
language | English |
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spelling | Mutambara, Arthur G. O. Verfasser aut Decentralized estimation and control for multisensor systems Arthur G. O. Mutambara Boca Raton [u.a.] CRC Press 1998 230 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Automatic control Multisensor data fusion Robots Control systems Steuerung (DE-588)4057472-6 gnd rswk-swf Multisensor (DE-588)4257775-5 gnd rswk-swf Multisensor (DE-588)4257775-5 s Steuerung (DE-588)4057472-6 s DE-604 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008242585&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
spellingShingle | Mutambara, Arthur G. O. Decentralized estimation and control for multisensor systems Automatic control Multisensor data fusion Robots Control systems Steuerung (DE-588)4057472-6 gnd Multisensor (DE-588)4257775-5 gnd |
subject_GND | (DE-588)4057472-6 (DE-588)4257775-5 |
title | Decentralized estimation and control for multisensor systems |
title_auth | Decentralized estimation and control for multisensor systems |
title_exact_search | Decentralized estimation and control for multisensor systems |
title_full | Decentralized estimation and control for multisensor systems Arthur G. O. Mutambara |
title_fullStr | Decentralized estimation and control for multisensor systems Arthur G. O. Mutambara |
title_full_unstemmed | Decentralized estimation and control for multisensor systems Arthur G. O. Mutambara |
title_short | Decentralized estimation and control for multisensor systems |
title_sort | decentralized estimation and control for multisensor systems |
topic | Automatic control Multisensor data fusion Robots Control systems Steuerung (DE-588)4057472-6 gnd Multisensor (DE-588)4257775-5 gnd |
topic_facet | Automatic control Multisensor data fusion Robots Control systems Steuerung Multisensor |
url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008242585&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
work_keys_str_mv | AT mutambaraarthurgo decentralizedestimationandcontrolformultisensorsystems |