Title :
Instrumentation architecture and sensor fusion for systems control
Author :
Stieber, Michael E. ; Petriu, Emil ; Vukovich, George
Author_Institution :
Canadian Space Agency, Canada
fDate :
2/1/1998 12:00:00 AM
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;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
