Title :
Instrumentation and data fusion architecture for systems control
Author :
Stieber, Michael E. ; Petriu, Emil ; Vukovich, George
Author_Institution :
Canadian Space Agency, Ottawa, Ont., Canada
Abstract :
Sensors selection and data fusion is of key importance for control of complex mechanical systems with vibrating flexible structures. This paper presents a systematic approach, based on the theory of hyperstability, for the design of an instrumentation and data fusion architecture which enables the robust control of complex systems. Earlier results are generalized and previous restrictions on sensors are relaxed to broaden the practical applicability of the proposed method
Keywords :
aerospace control; control system synthesis; flexible structures; input-output stability; large-scale systems; manipulator kinematics; robot vision; robust control; sensor fusion; BIBO stability; closed loop stability; control of complex mechanical systems; convergence proofs; data fusion architecture; dynamic sensor fusion; flexible multibody system; hyperstability theory; instrumentation architecture design; large space manipulators; performance sensors; robust control; sensors selection; systematic approach; systems control; vibrating flexible structures; vision based sensing; Actuators; Control systems; Coordinate measuring machines; Instruments; Manipulator dynamics; Mechanical sensors; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Space stations;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1997. IMTC/97. Proceedings. Sensing, Processing, Networking., IEEE
Conference_Location :
Ottawa, Ont.
Print_ISBN :
0-7803-3747-6
DOI :
10.1109/IMTC.1997.610195
