Decentralized Estimation And Control For Multisensor Systems
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Decentralized Estimation And Control For Multisensor Systems
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Author : Arthur G.O. Mutambara
language : en
Publisher: CRC Press
Release Date : 1998-01-29
Decentralized Estimation And Control For Multisensor Systems written by Arthur G.O. Mutambara and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998-01-29 with Technology & Engineering categories.
Decentralized Estimation and Control for Multisensor Systems explores the problem of developing scalable, decentralized estimation and control algorithms for linear and nonlinear multisensor systems. Such algorithms have extensive applications in modular robotics and complex or large scale systems, including the Mars Rover, the Mir station, and Space Shuttle Columbia. Most existing algorithms use some form of hierarchical or centralized structure for data gathering and processing. In contrast, in a fully decentralized system, all information is processed locally. A decentralized data fusion system includes a network of sensor nodes - each with its own processing facility, which together do not require any central processing or central communication facility. Only node-to-node communication and local system knowledge are permitted. Algorithms for decentralized data fusion systems based on the linear information filter have been developed, obtaining decentrally the same results as those in a conventional centralized data fusion system. However, these algorithms are limited, indicating that existing decentralized data fusion algorithms have limited scalability and are wasteful of communications and computation resources. Decentralized Estimation and Control for Multisensor Systems aims to remove current limitations in decentralized data fusion algorithms and to extend the decentralized principle to problems involving local control and actuation. The text discusses: Generalizing the linear Information filter to the problem of estimation for nonlinear systems Developing a decentralized form of the algorithm Solving the problem of fully connected topologies by using generalized model distribution where the nodal system involves only locally relevant states Reducing computational requirements by using smaller local model sizes Defining internodal communication Developing estimation algorithms for different models Applying the decentralized algorithms to the problem of decentralized control Demonstrating the theory to a modular wheeled mobile robot, a vehicle system with nonlinear kinematics and distributed means of acquiring information Extending the applications to other robotic systems and large scale systems Decentralized Estimation and Control for Multisensor Systems addresses how decentralized estimation and control systems are rapidly becoming indispensable tools in a diverse range of applications - such as process control systems, aerospace, and mobile robotics - providing a self-contained, dynamic resource concerning electrical and mechanical engineering.
Decentralized Estimation And Control For Multisensor Systems
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Author : Arthur G.O. Mutambara
language : en
Publisher: Routledge
Release Date : 2019-05-20
Decentralized Estimation And Control For Multisensor Systems written by Arthur G.O. Mutambara and has been published by Routledge this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-20 with Technology & Engineering categories.
Decentralized Estimation and Control for Multisensor Systems explores the problem of developing scalable, decentralized estimation and control algorithms for linear and nonlinear multisensor systems. Such algorithms have extensive applications in modular robotics and complex or large scale systems, including the Mars Rover, the Mir station, and Space Shuttle Columbia. Most existing algorithms use some form of hierarchical or centralized structure for data gathering and processing. In contrast, in a fully decentralized system, all information is processed locally. A decentralized data fusion system includes a network of sensor nodes - each with its own processing facility, which together do not require any central processing or central communication facility. Only node-to-node communication and local system knowledge are permitted. Algorithms for decentralized data fusion systems based on the linear information filter have been developed, obtaining decentrally the same results as those in a conventional centralized data fusion system. However, these algorithms are limited, indicating that existing decentralized data fusion algorithms have limited scalability and are wasteful of communications and computation resources. Decentralized Estimation and Control for Multisensor Systems aims to remove current limitations in decentralized data fusion algorithms and to extend the decentralized principle to problems involving local control and actuation. The text discusses: Generalizing the linear Information filter to the problem of estimation for nonlinear systems Developing a decentralized form of the algorithm Solving the problem of fully connected topologies by using generalized model distribution where the nodal system involves only locally relevant states Reducing computational requirements by using smaller local model sizes Defining internodal communication Developing estima
Informatics In Control Automation And Robotics
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Author : Juan Andrade Cetto
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-05-02
Informatics In Control Automation And Robotics written by Juan Andrade Cetto and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-05-02 with Technology & Engineering categories.
The present book includes a set of selected papers from the seventh "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2010), held in Madeira, Portugal, from 15 to 18 June 2010. The conference was organized in three simultaneous tracks: "Intelligent Control Systems and Optimization", "Robotics and Automation" and "Signal Processing, Systems Modeling and Control". The book is based on the same structure. ICINCO received 320 paper submissions, not including those of workshops or special sessions, from 57 countries, in all continents. After a double blind paper review performed by the Program Committee only 27 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 8%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2010. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.
Event Based State Estimation
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Author : Dawei Shi
language : en
Publisher: Springer
Release Date : 2015-11-19
Event Based State Estimation written by Dawei Shi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-19 with Technology & Engineering categories.
This book explores event-based estimation problems. It shows how several stochastic approaches are developed to maintain estimation performance when sensors perform their updates at slower rates only when needed. The self-contained presentation makes this book suitable for readers with no more than a basic knowledge of probability analysis, matrix algebra and linear systems. The introduction and literature review provide information, while the main content deals with estimation problems from four distinct angles in a stochastic setting, using numerous illustrative examples and comparisons. The text elucidates both theoretical developments and their applications, and is rounded out by a review of open problems. This book is a valuable resource for researchers and students who wish to expand their knowledge and work in the area of event-triggered systems. At the same time, engineers and practitioners in industrial process control will benefit from the event-triggering technique that reduces communication costs and improves energy efficiency in wireless automation applications.
Estimation With Applications To Tracking And Navigation
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Author : Yaakov Bar-Shalom
language : en
Publisher: John Wiley & Sons
Release Date : 2004-03-22
Estimation With Applications To Tracking And Navigation written by Yaakov Bar-Shalom and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-03-22 with Technology & Engineering categories.
Expert coverage of the design and implementation of state estimation algorithms for tracking and navigation Estimation with Applications to Tracking and Navigation treats the estimation of various quantities from inherently inaccurate remote observations. It explains state estimator design using a balanced combination of linear systems, probability, and statistics. The authors provide a review of the necessary background mathematical techniques and offer an overview of the basic concepts in estimation. They then provide detailed treatments of all the major issues in estimation with a focus on applying these techniques to real systems. Other features include: * Problems that apply theoretical material to real-world applications * In-depth coverage of the Interacting Multiple Model (IMM) estimator * Companion DynaEst(TM) software for MATLAB(TM) implementation of Kalman filters and IMM estimators * Design guidelines for tracking filters Suitable for graduate engineering students and engineers working in remote sensors and tracking, Estimation with Applications to Tracking and Navigation provides expert coverage of this important area.
Multi Sensor Data Fusion With Matlab
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Author : Jitendra R. Raol
language : en
Publisher: CRC Press
Release Date : 2009-12-16
Multi Sensor Data Fusion With Matlab written by Jitendra R. Raol and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-12-16 with Technology & Engineering categories.
Using MATLAB examples wherever possible, Multi-Sensor Data Fusion with MATLAB explores the three levels of multi-sensor data fusion (MSDF): kinematic-level fusion, including the theory of DF; fuzzy logic and decision fusion; and pixel- and feature-level image fusion. The authors elucidate DF strategies, algorithms, and performance evaluation mainly
Nonlinear Filtering
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Author : Jitendra R. Raol
language : en
Publisher: CRC Press
Release Date : 2017-07-12
Nonlinear Filtering written by Jitendra R. Raol and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-12 with Technology & Engineering categories.
Nonlinear Filtering covers linear and nonlinear filtering in a comprehensive manner, with appropriate theoretic and practical development. Aspects of modeling, estimation, recursive filtering, linear filtering, and nonlinear filtering are presented with appropriate and sufficient mathematics. A modeling-control-system approach is used when applicable, and detailed practical applications are presented to elucidate the analysis and filtering concepts. MATLAB routines are included, and examples from a wide range of engineering applications - including aerospace, automated manufacturing, robotics, and advanced control systems - are referenced throughout the text.
Design And Analysis Of Control Systems
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Author : Arthur G.O. Mutambara
language : en
Publisher: CRC Press
Release Date : 2024-03-27
Design And Analysis Of Control Systems written by Arthur G.O. Mutambara and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-03-27 with Technology & Engineering categories.
Written to inspire and cultivate the ability to design and analyse feasible control algorithms for a wide range of engineering applications, this comprehensive text covers the theoretical and practical principles involved in the design and analysis of control systems. This second edition introduces 4IR adoption strategies for traditional intelligent control, including new techniques of implementing control systems. It provides improved coverage of the characteristics of feedback control, root-locus analysis, frequency-response analysis, state space methods, digital control systems and advanced controls, including updated worked examples and problems. Features: Describes very timely applications and contains a good mix of theory, application, and computer simulation. Covers all the fundamentals of control systems. Takes a transdisciplinary and cross-disciplinary approach. Explores updates for 4IR (Industry 4.0) and includes better experiments and illustrations for nonlinear control systems. Includes homework problems, case studies, examples, and a solutions manual. This book is aimed at senior undergraduate and graduate students, professional engineers and academic researchers, in interrelated engineering disciplines such as electrical, mechanical, aerospace, mechatronics, robotics and other AI-based systems.
Secure Fusion Estimation And Control For Cyber Physical Systems Under Malicious Attacks
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Author : Bo Chen
language : en
Publisher: Springer Nature
Release Date : 2025-01-03
Secure Fusion Estimation And Control For Cyber Physical Systems Under Malicious Attacks written by Bo Chen and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-01-03 with Technology & Engineering categories.
The book focuses on the issues of secure fusion estimation and control in cyber-physical systems under cyber-attacks, such as privacy protection under eavesdropping attacks, security fusion estimation under DoS and FDI attacks, and model-based and model-free security control under cyber-attacks. The comprehensive and systematic treatment of security protection in cyber-physical systems is one of the main features of the book, which is particularly suitable for readers interested in learning practical solutions for the security of cyber-physical systems. The book can benefit researchers, engineers and graduate students in the fields of control science and engineering, computer science, communication engineering, etc.
Multisensor Fusion
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Author : Anthony K. Hyder
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Multisensor Fusion written by Anthony K. Hyder and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.
For some time, all branches of the military have used a wide range of sensors to provide data for many purposes, including surveillance, reconnoitring, target detection and battle damage assessment. Many nations have also attempted to utilise these sensors for civilian applications, such as crop monitoring, agricultural disease tracking, environmental diagnostics, cartography, ocean temperature profiling, urban planning, and the characterisation of the Ozone Hole above Antarctica. The recent convergence of several important technologies has made possible new, advanced, high performance, sensor based applications relying on the near-simultaneous fusion of data from an ensemble of different types of sensors. The book examines the underlying principles of sensor operation and data fusion, the techniques and technologies that enable the process, including the operation of 'fusion engines'. Fundamental theory and the enabling technologies of data fusion are presented in a systematic and accessible manner. Applications are discussed in the areas of medicine, meteorology, BDA and targeting, transportation, cartography, the environment, agriculture, and manufacturing and process control.