Broadcast control of cellular stochastic control systems with applications to actuators

• US 20080200997A1
• Filed: 02/20/2007
• Published: 08/21/2008
• Est. Priority Date: 02/20/2007
• Status: Abandoned Application

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Asada, Haruhiko Harry, Ueda, Jun, Odhner, Lael U
• Application Number:
  US11/708,403
• Publication Number:
  US 20080200997A1
• Time in Patent Office: Days
• US Class Current: 700/12
• CPC Class Codes: G05B 19/045 using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g. binary decision controllers, finite state controllers
• CPC Class Codes: G05B 2219/23289 State logic control, finite state, tasks, machine, fsm

Abstract

A broadcast feedback method is presented for distributed stochastic control of an actuator system consisting of many cellular units. The method can be implemented for an artificial cellular actuator, consisting of many units of smart actuator material with a random signal generator. The output of the actuator system is an aggregate effect of numerous cellular units, each taking a bi-stable ON-OFF state. A central controller broadcasts the error between the aggregate output and a reference input. The central controller broadcasts the overall error signal to all the cellular units uniformly. In turn, each cellular unit makes a stochastic decision with a state transition probability modulated in relation to the broadcasted error. Even in the absence of deterministic coordination, the ensemble of the cellular units can track a given trajectory stably.

Claims

1. A control system comprising:

a plurality of small cellular units, wherein each of the plurality of cellular units comprises a stochastic state machine that controls the state of the unit modulated by a command broadcasted by a central controller.

2. The system in accordance with claim 1, wherein the plurality of cellular units are actuators.

3. The system in accordance with claim 2, wherein the plurality of cellular units are connected to each other directly.

4. The system in accordance with claim 1, wherein the stochastic state machine has two states and controls the cellular unit in a binary manner.

5. The system in accordance with claim 2, wherein the actuator is made by actuator material with hysteresis, and a bi-stable ON-OFF control is applied to avoid nonlinear transitions.

6. The system in accordance with claim 1, wherein the central controller broadcasts the signal based on a reference input and an aggregate output of the plurality of cellular units.

7. The system in accordance with claim 6, wherein the central controller broadcasts an error between the reference input and the aggregate output of the plurality of cellular units.

8. The system in accordance with claim 4, wherein the stochastic state machine is comprised of a pulse-width modulator (PWM) which modulates the broadcasted signal, a sampler which samples an output signal of the PWM in sync with a random pulse generator, and a bi-stable ON-OFF controller which controls the plurality of cellular units.

9. The system in accordance with claim 7, wherein a transition probability for each cell is proportional to the broadcasted error.

10. The system in accordance with claim 4, wherein the actuator is made by actuator material with hysteresis, and a bi-stable ON-OFF control is applied to avoid nonlinear transitions.

11. The system in accordance with claim 3, wherein the plurality of cellular units are connected to each other directly in series.

12. The system in accordance with claim 3, wherein the plurality of cellular units are connected to each other directly in parallel.

13. The system in accordance with claim 3, wherein the plurality of cellular units are connected to each directly in a combination of in series and in parallel.

14. The system in accordance with claim 2, wherein the plurality of cellular units are connected to each other through mechanical impedance.

15. The system in accordance with claim 14, wherein the plurality of cellular units are connected to each other through mechanical impedance in series.

16. The system in accordance with claim 14, wherein the plurality of cellular units are connected to each other through mechanical impedance in parallel.

17. The system in accordance with claim 14, wherein the plurality of cellular units are connected to each other through mechanical impedance in a combination of in series and in parallel.