[특허]Self-stabilizing system for multiple interacting controllers

HRL Laboratories, LLC

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Self-stabilizing system for multiple interacting controllers

국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01B-013/02 G01K-007/42 G05B-013/02
출원번호	US-0567989 (2012-08-06)
등록번호	US-9557722 (2017-01-31)
발명자 / 주소	Hoffmann, Heiko Payton, David W.
출원인 / 주소	HRL Laboratories, LLC
대리인 / 주소	Tope-McKay & Associates
인용정보	피인용 횟수 : 0 인용 특허 : 10

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Described is a control system for stabilizing complex systems through self-adjustment. The complex system consists of agents or machines interacting with an environment and controlled by a controller. The control system includes a sensor configured to measure a state of the complex system and output the measured state of the complex system. A filter receives the measured state of the complex system, computes a variance in the measured state of the complex system over time, and outputs the computed variance. A regulator, which is connected with at least one controller, adjusts a control parameter in response to the computed variance received from the filter. The regulator is configured to regulate each controller's action on each agent or machine based on the control parameter in order to maintain stability of the complex system. In a desired aspect, the at least one control parameter comprises a set of additional input delays.

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1. A control system for stabilizing complex systems, wherein the complex system comprises a plurality of agents or machines interacting with an environment, the control system comprising: at least one sensor, connected with each agent or machine and the environment, configured to measure a state of the complex system and output the measured state of the complex system;a plurality of controllers, each agent or machine having its own controller which directly controls the actions of its corresponding agent or machine,wherein each controller receives feedback regarding its corresponding agent's or machine's state as well as feedback from the environment; andat least one filter configured to receive the measured state of the complex system, compute a variance in the oscillations of the complex system over time, and output the computed variance to at least one regulator;wherein for each agent or machine, at least one corresponding regulator is connected with the controller corresponding to the agent or machine and is configured to automatically adjust a control parameter in response to the computed variance received from the at least one filter;wherein the automatically adjustable control parameter is at least one additional feedback delay between the measured state of the complex system and each controller corresponding to an agent or machine; andwherein each regulator is configured to regulate each controller's action on its corresponding agent or machine based on the control parameter in order to maintain stability of the complex system. 2. The control system for stabilizing complex systems as set forth in claim 1, wherein the at least one regulator comprises a global regulator and a plurality of local regulators regulated through the global regulator, wherein the global regulator adjusts a global variable dt according to the following: dt+1=exp(−avt)dt+bvt,where a and b are constants, vt represents the computed variance, and exp denotes an exponential term that stabilizes dt. 3. The control system for stabilizing complex systems as set forth in claim 2, wherein the global variable regulates the control parameter according to the following: Δi=idt,wherein i is an index that labels each controller. 4. The control system for stabilizing complex systems as set forth in claim 1, wherein the control parameter changes randomly with an amplitude that is proportional to the computed variance. 5. The control system for stabilizing complex systems as set forth in claim 1, wherein the at least one regulator is a plurality of local regulators, each connected with a controller for controlling each agent or machine, and wherein the at least one filter comprises a plurality of filters, wherein each filter is configured to output the computed variance to each local regulator. 6. A method for stabilizing complex systems, wherein the complex system comprises a plurality of agents or machines interacting with an environment, the control system comprising: at least one sensor, connected with each agent or machine and the environment, configured to measure a state of the complex system and output the measured state of the complex system;a plurality of controllers, each agent or machine having its own controller which directly controls the actions of its corresponding agent or machine,wherein each controller receives feedback regarding its corresponding agent's or machine's state as well as feedback from the environment; andat least one filter configured to receive the measured state of the complex system, compute a variance in the oscillations of the complex system over time, and output the computed variance to at least one regulator;wherein for each agent or machine, at least one corresponding regulator is connected with the controller corresponding to the agent or machine and is configured to automatically adjust a control parameter in response to the computed variance received from the at least one filter;wherein the automatically adjustable control parameter is at least one additional feedback delay between the measured state of the complex system and each controller corresponding to an agent or machine; andwherein each regulator is configured to regulate each controller's action on its corresponding agent or machine based on the control parameter in order to maintain stability of the complex system. 7. The method for stabilizing complex systems as set forth in claim 6, wherein the at least one regulator comprises a global regulator and a plurality of local regulators regulated through the global regulator, and wherein the method further comprises an act of adjusting a global variable dt according to the following: dt+1=exp(−avt)dt+bvt,where a and b are constants, vt represents the computed variance, and exp denotes an exponential term that stabilizes dt. 8. The method for stabilizing complex systems as set forth in claim 7, further comprising an act of regulating the control parameter according to the following: Δi=idt,wherein i is an index that labels each controller. 9. The method for stabilizing complex systems as set forth in claim 6, wherein the at least one regulator is a plurality of local regulators, each connected with a controller for controlling each agent or machine, and wherein the at least one filter comprises a plurality of filters, wherein each filter is configured to output the computed variance to each local regulator. 10. The method for stabilizing complex systems as set forth in claim 6, further comprising an act of changing the control parameter randomly with an amplitude that is proportional to the computed variance. 11. A computer program product for stabilizing complex systems, wherein the complex system comprises a plurality of agents or machines interacting with an environment, the control system comprising: at least one sensor, connected with each agent or machine and the environment, configured to measure a state of the complex system and output the measured state of the complex system;a plurality of controllers, each agent or machine having its own controller which directly controls the actions of its corresponding agent or machine,wherein each controller receives feedback regarding its corresponding agent's or machine's state as well as feedback from the environment; andat least one filter configured to receive the measured state of the complex system, compute a variance in the oscillations of the complex system over time, and output the computed variance to at least one regulator;wherein for each agent or machine, at least one corresponding regulator is connected with the controller corresponding to the agent or machine and is configured to automatically adjust a control parameter in response to the computed variance received from the at least one filter;wherein the automatically adjustable control parameter is at least one additional feedback delay between the measured state of the complex system and each controller corresponding to an agent or machine; andwherein each regulator is configured to regulate each controller's action on its corresponding agent or machine based on the control parameter in order to maintain stability of the complex system. 12. The computer program product for stabilizing complex systems as set forth in claim 11, wherein the at least one regulator comprises a global regulator and a plurality of local regulators regulated through the global regulator, further comprising instruction means for adjusting a global variable dt according to the following: dt+1=exp(−avt)dt+bvt,where a and b are constants, vt represents the computed variance, and exp denotes an exponential term that stabilizes dt. 13. The computer program product for stabilizing complex systems as set forth in claim 12, further comprising instruction means for regulating the control parameter according to the following: Δi=idt,wherein i is an index that labels each controller. 14. The computer program product for stabilizing complex system as set forth in claim 11, further comprising instruction means for changing the control parameter randomly with an amplitude that is proportional to the computed variance. 15. The computer program product for stabilizing complex system as set forth in claim 11, wherein the at least one regulator is a plurality of local regulators, each connected with a controller for controlling each agent or machine, and wherein the at least one filter comprises a plurality of filters, wherein each filter is configured to output the computed variance to each local regulator.

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Self-stabilizing system for multiple interacting controllers

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Self-stabilizing system for multiple interacting controllers

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