Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 41 for “"Formation Control"”.
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Hybrid Formation Control of Unmanned Helicopters
… develops a hierarchical hybrid supervisory control framework for the formation of unmanned helicopters as a cooperative task. This control structure has been constructed in two main steps. First, to have an autonomous flying system, a hierarchical hybrid control structure is developed for a …
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Adaptive consensus based formation control of unmanned vehicles
<p>"Over the past decade, the control research community has given significant attention to formation control of multiple unmanned vehicles due to a variety of commercial and defense applications. Consensus-based formation control is considered to be more robust and reliable when compared to other …
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Improving Leader-Follower Formation Control Performance for Quadrotors
… thesis aims to improve the leader-follower team formation flight performance of Unmanned Aerial Vehicles (UAVs) by applying nonlinear robust and optimal techniques, in particular the nonlinear H_infinity and the iterative Linear Quadratic Regulator (iLQR), to stabilisation, path tracking and …
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Robot Team Formation Control Using Communication "Throughput Approach"
… robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the end-to-end throughput level.</p>
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Formation control of multiple robots under packet loss
… by communication packet loss in leader-follower formation control of multi-robot systems, with a focus on Automated Guided Vehicles (AGVs) and drones. It presents a comprehensive analysis of how packet loss affects linear controllers, including Linear Quadratic Regulator (LQR) for AGV position …
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Formation Control and Reconfiguration Strategy of Multi-Agent Systems
… and interact with their local environments. The formation control strategy is studied to drive multi-agent systems to predefined formations. The process is important because the objective formation is designed such that the group achieves more than the sum of its individuals. In this thesis, we …
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Stability and String Stability Analysis of Formation Control Architectures for Platooning.
… results for stability and string stability of formation control architectures for platooning. We consider three important interconnection topologies for vehicles travelling in a straight line as a string: leader following, cyclic and bidirectional. For the leader following topology we discuss …
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Integrated Optimization of Cryptosporidium Inactivation and Bromate Formation Control in Ozone Contactors
… and design recommendations for the simultaneous control of C. parvum oocysts and bromate during ozone disinfection. Elucidation of factors affecting the level of C. parvum inactivation and bromate formation, such as source water characteristics and ozone contactor operating conditions, was …
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New decentralized algorithms for spacecraft formation control based on a cyclic approach
When considering the formation control problem for large number of spacecraft, the advantages of implementing control approaches with a centralized coordination mechanism can be outpaced by the risks associated with having a primary vital control unit. Additionally, in formations with a large …
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Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles
… swarm strategy for a group of AUVs, termed formation control, with consideration to the constraints of the underwater domain. Four formation control algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. …
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Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles
… swarm strategy for a group of AUVs, termed formation control, with consideration to the constraints of the underwater domain. Four formation control algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. …
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Attitude and formation control design and system simulation for a three-satellite CubeSat mission
Spacecraft formation flight has been identified as a critical enabling technology for achieving many scientific, commercial, and military objectives. One of the primary challenges of a formation flight mission is the control of the relative motion between spacecraft. Before any flagship missions …
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Environmental Tracking and Formation Control for an Autonomous Underwater Vehicle Platoon with Limited Communication
… challenging issues in multi-agent cooperative control. These challenges include developing cooperative algorithms suitable to practical multi-vehicle applications. They also include addressing intervehicle communication issues, such as sharing information via limited bandwidth channels and …
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Design and implementation of test-bed for path planning and formation control of cooperative robotic agents
… are primary candidates to perform dangerous but controlled missions. They carry cameras, surveillance instruments, and sensors to collect information and relay their findings to their human operators. Man is continuously challenged to seek uncharted territories such as outer space and the oceans …
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Design and implementation of a relative state estimator for docking and formation control of modular autonomous spacecraft
… system to allow modules to fly accurately in formation and dock with each other. These two additional elements are explored in this thesis. The central focus is on a relative state estimator based on an extended Kalman filter. The estimator is first presented theoretically, then the results of …
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Control System Design and Simulation of Spacecraft Formations via Virtual Formation Approach
<p>The problem of formation control of multiple spacecraft using the virtual structure approach is studied. The thesis first summarizes the progress made in the area of spacecraft formation control and then provides an overview of the virtual structure method. Modifying earlier established control …
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Formation Feedback Control of UAV Flight
<p>This thesis is a study of formation control with autonomous unmanned aerial vehicles using the formation as feedback. There is also an investigation of formation methods presenting insight into different algorithms for formations. A rigid formation is achieved using a proportional-derivative …
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Programming platform for distributed robotics: primitives and portability
… and building blocks for communication, motion control and coordination between robots. It has been used to develop applications such as formation control, automatic intersection protocol, and distributed collaborative search. In this thesis, we introduce the programming abstractions as StarL …
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Sensor Craft Control Using Drone Craft with Coulomb Propulsion System
… no propellant. It is suitable to close formation control on the order of dozens of meters. The Coulomb forces are internal forces of the formation and they influence all charged spacecraft at the same time. Highly nonlinear and strongly coupled equations of motion of Coulomb formation …
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Formation Fidelity of Simulated Unmanned Autonomous Vehicles through Periodic Communication
Controlling a formation of unmanned autonomous vehicles is a daunting prospect even when the formation operates under ideal conditions. When communication between vehicles is limited, maintaining a formation becomes difficult. In some cases the formation may become unstable. While a control law may …
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