Motion Coordination of Aerial Vehicles

The coordinated motion control of multiple vehicles has emerged as a field of major interest in the control community. This thesis addresses two topics related to the control of a group of aerial vehicles: the output feedback attitude synchronization of rigid bodies and the formation control of Unmanned Aerial Vehicles (UAVs) capable of Vertical Take-Off and Landing (VTOL). The information flow between members of the team is assumed fixed and undirected. The first part of this thesis is devoted to the attitude synchronization of a group of spacecraft. In this context, we propose control schemes for the synchronization of a group of spacecraft to a predefined attitude trajectory without angular velocity measurements. We also propose some velocity-free consensus-seeking schemes allowing a group of spacecraft to align their attitudes, without reference trajectory specification. The second part of this thesis is devoted to the control of a group of VTOL-UAVs in the Special Euclidian group SE(3), i.e., position and orientation. In this context, we propose a few position coordination schemes without linear-velocity measurements. We also propose some solutions to the same problem in the presence of communication time-delays between aircraft. To solve the above mentioned problems, several new technical tools have been introduced in this thesis to overcome the deficiencies of the existing techniques in this field.

Name thesis:degree_name

Ph D

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor dc:publisher

The University of Western Ontario

Year dc:date.issued

2010

Author dc:creator

• Abdessameud, Abdelkader

Advisor dc:contributor.advisor

• Abdelhamid Tayebi

• motion coordination
• Aerial vehicle
• VTOL
• attitude synchronization
• formation control
• output feedback control

Language dc:language.iso

en_ca

Handle dc:identifier.uri

https://hdl.handle.net/20.500.14721/34023

OAI identifier oai:identifier

oai:uwo.scholaris.ca:20.500.14721/34023