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Evolving Systems: Adaptive Key Component Control and Inheritance of Passivity and DissipativityWe propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. Autonomous assembly of large, complex flexible structures in space is a target application for Evolving Systems. A critical requirement for autonomous assembling structures is that they remain stable during and after assembly. The fundamental topic of inheritance of stability, dissipativity, and passivity in Evolving Systems is the primary focus of this research. In this paper, we develop an adaptive key component controller to restore stability in Nonlinear Evolving Systems that would otherwise fail to inherit the stability traits of their components. We provide sufficient conditions for the use of this novel control method and demonstrate its use on an illustrative example.
Document ID
20100036594
Acquisition Source
Ames Research Center
Document Type
Preprint (Draft being sent to journal)
Authors
Frost, S. A. (NASA Ames Research Center Moffett Field, CA, United States)
Balas, M. J. (Wyoming Univ. Laramie, WY, United States)
Date Acquired
August 25, 2013
Publication Date
April 27, 2010
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
ARC-E-DAA-TN1595
Distribution Limits
Public
Copyright
Public Use Permitted.

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