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Decentralized Exergy/Entropy Thermodynamic Control for Collective Robotic Systems

[+] Author Affiliations
Rush D. Robinett, III, David G. Wilson

Sandia National Laboratories, Albuquerque, NM

Paper No. IMECE2007-43691, pp. 1447-1453; 7 pages
doi:10.1115/IMECE2007-43691
From:
  • ASME 2007 International Mechanical Engineering Congress and Exposition
  • Volume 9: Mechanical Systems and Control, Parts A, B, and C
  • Seattle, Washington, USA, November 11–15, 2007
  • Conference Sponsors: ASME
  • ISBN: 0-7918-4303-3 | eISBN: 0-7918-3812-9
  • Copyright © 2007 by ASME

abstract

This paper develops a distributed decentralized control law for collective robotic systems. The control laws are developed based on exergy/entropy thermodynamic concepts and information theory. The source field is characterized through second-order accuracy. The proposed feedback control law stability for both the collective and individual robots are demonstrated by selecting a general Hamiltonian based solution developed as Fisher Information Equivalency as the vector Lyapunov function. Stability boundaries and system performance are then determined with Lyapunov’s direct method. A robot collective plume tracing numerical simulation example demonstrates this decentralized exergy/entropy collective control architecture.

Copyright © 2007 by ASME
Topics: Entropy , Exergy , Robotics

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