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From Trajectory Control to Task Space Control – Emergence of Self Organization in Complex Systems

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Book cover Emergent Properties in Natural and Artificial Dynamical Systems

Part of the book series: Understanding Complex Systems ((UCS))

Abstract

A consequence of very fast technology development is the appearance of new phenomena in man made systems related to their large number of heterogeneous interacting components. Then because of resulting larger complexity over passing human operator capability, the system can no longer be only guided and controlled at trajectory level. A larger and more global delegation should be given the system at decision making, and it is proposed here to manage it at task level usually corresponding to well identified sequences in system operation. To succeed in this transfer attention has to be paid to the fact that there are in general many trajectories for one prescribed task. So a new and completely transparent link should be established between trajectory and task controls, both acting at their own levels in the system. The corresponding double loop control is developed here, and consists mainly in an asymptotically stable functional control acting at trajectory level as a whole, and explicit in terms of main system power bounds guaranteeing robustness inside a ball the size of which is the manifold generated by all system trajectories for task accomplishment. At higher level a new decision control based on trajectory utility for succeeding in the task is proposed, the role of which is to maintain system dynamics inside the selected trajectory manifold corresponding to task. With this two step control, human operator role is eased and can be more oriented toward higher coordination and maintenance management.

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Authors and Affiliations

  1. ECE, 53 rue de Grenelle, Paris, 75007, France

    Michel Cotsaftis

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  1. Michel Cotsaftis
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Editors and Affiliations

  1. Applied Math Laboratory, University of Le Havre, 25 Rue Ph. Lebon, Le Havre, Cedex, 540, France

    M.A. Aziz-Alaoui

  2. Computer Sciences Laboratory, University of Le Havre, 25 Rue Ph. Lebon, Le Havre, Cedex, 540, France

    C. Bertelle

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Cotsaftis, M. (2006). From Trajectory Control to Task Space Control – Emergence of Self Organization in Complex Systems. In: Aziz-Alaoui, M., Bertelle, C. (eds) Emergent Properties in Natural and Artificial Dynamical Systems. Understanding Complex Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-34824-7_1

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