Title :
Discrete Decentralized Supervisory Control for Underwater Glider
Author :
Zhang, Yu ; Zhang, Liang ; Zhao, Tiejun
Author_Institution :
Sch. of Mech. Eng., Shenyang Univ. of Technol.
Abstract :
In order to independently undertake complex missions in unstructured and unknown undersea environment, artificial intelligence techniques are needed to provide underwater glider with ability of active autonomy. Based on the RW (Ramadge & Wonham) supervisory control theory of discrete event dynamic system (DEDS), a three-level intelligence control architecture for underwater glider is brought forth. The DEDS formalism models of underwater glider in term of finite state automata (FSA) are built in detail, and the realization of decentralized supervisory control (DSC) system is presented in detail. The simulation experiment results show that the three-level supervisory control system not only coordinates properly sensing, planning and action, but also allows underwater glider to be both efficient and flexible in the face of change
Keywords :
artificial intelligence; decentralised control; discrete event systems; finite state machines; intelligent control; underwater vehicles; artificial intelligence techniques; discrete decentralized supervisory control; discrete event dynamic system; finite state automata; supervisory control theory; three-level intelligence control architecture; undersea environment; underwater glider; Artificial intelligence; Automatic control; Control systems; Domestic safety; Intelligent control; Mechanical engineering; Motion control; Oceans; Power system planning; Supervisory control;
Conference_Titel :
Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on
Conference_Location :
Jinan
Print_ISBN :
0-7695-2528-8
DOI :
10.1109/ISDA.2006.253813
