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• W1489807787 abstract "Title of thesis: BACKSTEPPING CONTROL DESIGN FOR THE COORDINATED MOTION OF VEHICLES IN A FLOWFIELD Rochelle Mellish, Master of Science, 2011 Thesis directed by: Dr. Derek A. Paley Department of Aerospace Engineering Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing formation control laws for a self-propelled vehicle model with first-order rotational dynamics; however this model does not adequately describe the rotational and translational dynamics of vehicles in the atmosphere or ocean. This thesis describes the design of decentralized algorithms to control self-propelled vehicles with second-order rotational and translational dynamics. Backstepping controls for parallel and circular formations are designed in the absence of a flowfield and in a steady, uniform flowfield. Backstepping and proportional-integral controllers are then used to stabilize yaw in a rigid-body model. Feedback linearization is used to attain the desired forward speed. These formation control laws extend prior results to a more realistic vehicle model. Aside from the addition of new sensing and communication requirements, the second-order control laws are demonstrated to have comparable performance to the first-order controllers. The theoretical results are illustrated by numerical simulations. BACKSTEPPING CONTROL DESIGN FOR THE COORDINATED MOTION OF VEHICLES IN A FLOWFIELD" @default.
• W1489807787 created "2016-06-24" @default.
• W1489807787 creator A5028890211 @default.
• W1489807787 date "2011-01-01" @default.
• W1489807787 modified "2023-09-27" @default.
• W1489807787 title "Backstepping Control Design for the Coordinated Motion of Vehicles in a Flowfield" @default.
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• W1489807787 hasPublicationYear "2011" @default.
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