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26 May 2005 A network-centric input-output feedback linearization-based control strategy for unmanned systems
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Large scale unmanned networks consisting of a number of heterogeneous nodes that may be configured in ad-hoc fashions and incorporating complicated architectures result in challenging problems for design of appropriate control and resource allocation optimization techniques. The problem is further compounded by the fact that designing appropriate network control methodologies subject to bandwidth, latencies and computational resources for these network-centric systems are highly non-trivial. In this paper, we only investigate one of a number of critical issues that are of interest in this domain, namely the problem of congestion control of a network that consists of three nodes that can be configured into different architectures. This study shows that depending on the interconnections between the network nodes the dynamics of the resulting closed-loop system can change considerably so that the unmanned system could become even unstable and unmanageable. Therefore, a robust control strategy is required to be able to cope with any configuration changes and to be able to address the resource allocation problem subject to the propagation delays and latencies. For sake of comparative evaluation, we first implement a standard PID control scheme which is shown to lack sufficient capability for achieving the desired performance requirements. Subsequently, a nonlinear control scheme is proposed to resolve the limitation of sensitivity of the closed-loop system to propagation delays. The proposed strategy is based on a well-known input-output feedback linearization approach that is shown to achieve an appreciable improvement in the performance of the closed-loop unmanned network and which is also less sensitive to the network propagation delays.
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K. Bouyoucef and K. Khorasani "A network-centric input-output feedback linearization-based control strategy for unmanned systems", Proc. SPIE 5820, Defense Transformation and Network-Centric Systems, (26 May 2005);

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