Hamiltonian Servo: Control and Estimation of a Large Team of Autonomous Robotic Vehicles  

作　　者：Vladimir Ivancevic Peyam Pourbeik 

机构地区：[1]Joint and Operations Analysis Division, Defence Science & Technology Group, Canberra, Australia [2]CEWD, Assured Communications, Survivable Networks, Defence Science & Technology Group, Adelaide, Australia

出　　处：《Intelligent Control and Automation》2017年第4期175-197,共23页智能控制与自动化（英文）

摘　　要：This paper proposes a novel Hamiltonian servo system, a combined modeling framework for control and estimation of a large team/fleet of autonomous robotic vehicles. The Hamiltonian servo framework represents high-dimensional, nonlinear and non-Gaussian generalization of the classical Kalman servo system. After defining the Kalman servo as a motivation, we define the affine Hamiltonian neural network for adaptive nonlinear control of a team of UGVs in continuous time. We then define a high-dimensional Bayesian particle filter for estimation of a team of UGVs in discrete time. Finally, we formulate a hybrid Hamiltonian servo system by combining the continuous-time control and the discrete-time estimation into a coherent framework that works like a predictor-corrector system.This paper proposes a novel Hamiltonian servo system, a combined modeling framework for control and estimation of a large team/fleet of autonomous robotic vehicles. The Hamiltonian servo framework represents high-dimensional, nonlinear and non-Gaussian generalization of the classical Kalman servo system. After defining the Kalman servo as a motivation, we define the affine Hamiltonian neural network for adaptive nonlinear control of a team of UGVs in continuous time. We then define a high-dimensional Bayesian particle filter for estimation of a team of UGVs in discrete time. Finally, we formulate a hybrid Hamiltonian servo system by combining the continuous-time control and the discrete-time estimation into a coherent framework that works like a predictor-corrector system.

关 键 词：TEAM of UGVs KALMAN SERVO HAMILTONIAN CONTROL Bayesian ESTIMATION 

分 类 号：O1[理学—数学]