Instrumentation architecture and sensor fusion for systems control

Author

Stieber, Michael E. ; Petriu, Emil ; Vukovich, George

Author_Institution

Canadian Space Agency, Canada

Volume

47

Issue

1

fYear

1998

fDate

2/1/1998 12:00:00 AM

Firstpage

108

Lastpage

113

Abstract

This paper presents a systematic approach for the design of an instrumentation architecture and a sensor data fusion concept which together enable the robust control of complex electromechanical systems. The development is based on the theory of hyperstability. Earlier results are generalized and previous restrictions on sensors are relaxed to broaden the applicability of the proposed method. Experimental results validate the methodology and confirm its efficacy in practical applications

Keywords

aerospace robotics; control system synthesis; flexible structures; large-scale systems; robot vision; robust control; sensor fusion; telerobotics; complex electromechanical systems; flexible body effects; hyperstability theory; instrumentation architecture; large space manipulators; machine vision; robust control; sensor data fusion concept; sensor selection; space robotics; systems control; Control systems; Electromechanical sensors; Instruments; Intelligent sensors; Manipulator dynamics; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Space stations;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.728801

Filename

728801