BYU MAGICC Lab Technical Report: MAGICC-2003-Nov-No.2 A Control Lyapunov Function Approach to Safeguarded Shared Control
نویسندگان
چکیده
In this paper, control Lyapunov functions are used to define static and dynamic safe regions for a system. Based on a control Lyapunov function, a “feasible input set” is defined as all feasible controls for this CLF according to attractive behaviors and repulsive behaviors. If the system is within a specified safe region, the human input will be used as the control input to the system. If the system is outside the specified safe region, the human input will be snapped to the closest control element in the feasible input set. Behavior based strategies are applied to achieve smooth transition from human input to snapped control input so as to guarantee maximum flexibility for humans as well as system stability and minimum base-line performance. An illustrative example for a mobile robot shows the effectiveness of the approach.
منابع مشابه
A Testbed Architecture for MAGICC Applications
A testbed is developed for testing Multi-AGent Intelligent Coordination and Control (MAGICC). The robots act as agents which make decisions and act upon them via classical control theory. The testbed consists of sensors( camera and encoders), embedded controllers, modems and a computer network which are integrated into a hierm;chical control which has decision makers, controllers, estimators an...
متن کاملSafe-Path Graph Generation for Path Planning in Urban Environments
To serve as a platform for multi-agent research, the BYU MAGICC Lab has created a version of the game of capturethe-flag played in a maze environment that can be configured to model a variety of indoor and urban settings. Each competing team has mobile robots on the ground, a simulated UAV flying overhead, and a remote human commander. Since simultaneous low-level control of all robots is not p...
متن کاملInteractive comment on “Emulating IPCC AR4 atmosphere-ocean and carbon cycle models for projecting global-mean, hemispheric and land/ocean temperatures: MAGICC 6.0” by M. Meinshausen et al
very late, beyond the standard turnaround times for ACP. Nevertheless, we believe that this comprehensive model documentation and application is of considerable interest for future applications of MAGICC, which is why we would like to ask the editors and reviewers to accept our sincere apologies for this lateness. In the course of the two years, the described model parameterisations have been s...
متن کاملInteractive comment on “Emulating IPCC AR4 atmosphere-ocean and carbon cycle models for projecting global-mean, hemispheric and land/ocean temperatures: MAGICC 6.0” by M. Meinshausen et al
There are, however, three major revisions that we have implemented: a) We followed the recommendation of reviewer 3, and split up the paper into two, a “model description and calibration” paper (Part I) and an “application” paper (Part II). b) We have updated the application examples. We noted previously the potential future use of MAGICC for forthcoming intercomparison exercises. MAGICC has in...
متن کاملDesign of A No-chatter Fractional Sliding Mode Control Approach for Stabilization of Non-Integer Chaotic Systems
A nonlinear chattering-free sliding mode control method is designed to stabilize fractional chaotic systems with model uncertainties and external disturbances. The main feature of this controller is rapid convergence to equilibrium point, minimize chattering and resistance against uncertainties. The frequency distributed model is used to prove the stability of the controlled system based on dir...
متن کامل