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Distributed control for complex mission scenarios with non-holonomic agents – an LPV approach
Citation Link: https://doi.org/10.15480/882.3564
Publikationstyp
Doctoral Thesis
Date Issued
2021-06
Sprache
English
Author(s)
Advisor
Referee
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2020-10-22
Institut
TORE-DOI
TORE-URI
Citation
Dr. Hut 978-3-8439-4791-6: (2021)
Publisher Link
Publisher
Dr.Hut
This thesis considers cooperative control of non-holonomic autonomous agents which are modeled as linear parameter-varying (LPV) systems. Two approaches are considered. First, the formation control approach; here a coupled information flow filter is presented that enables feedback of local agent data into the consensus protocol. Moreover, a simultaneous design and optimization of filter and local controller is proposed. Secondly, extension of flocking control to LPV agents. A separation in design is achieved by designing a flocking filter that receives data from and provides reference trajectories to local agents. This approach is illustrated with source seeking and level curve tracking scenarios.
Subjects
LPV Formation Control
LPV Flocking Control
LPV Distributed Control
DDC Class
004: Informatik
600: Technik
More Funding Information
Ägyptisches Verteidigungsministerium
Publication version
publishedVersion
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Name
Dissertation_Attallah.pdf
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8.51 MB
Format
Adobe PDF