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A methodology for provably stable behaviour-based intelligent control

Harper, C. J. and Winfield, A. F. (2006) A methodology for provably stable behaviour-based intelligent control. Robotics and Autonomous Systems, 54 (1). pp. 52-73. ISSN 0921-8890 Available from:

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Publisher's URL: http:\\\10.1016/j.robot.2005.09.014


This paper presents a design methodology for a class of behaviour-based control systems, arguing its potential for application to safety critical systems. We propose a formal basis for subsumption architecture design based on two extensions to Lyapunov stability theory, the Second Order Stability Theorems, and interpretations of system safety and liveness in Lyapunov stability terms. The subsumption of the new theorems by the classical stability theorems serves as a model of dynamical subsumption, forming the basis of the design methodology. Behaviour-based control also offers the potential for using simple computational mechanisms, which will simplify the safety assurance process.

Item Type:Article
Uncontrolled Keywords:intelligent control, behaviour-based control, subsumption architecture, lyapunov stability, safety critical systems
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:160
Deposited By: Professor A. Winfield
Deposited On:03 Jan 2012 11:49
Last Modified:12 Oct 2015 12:03

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