Distributed control of multi-vehicle systems using modular architectures

Publikationstyp
Doctoral Thesis
Date Issued
2023
Sprache
English
Author(s)
Datar, Adwait  
Advisor
Werner, Herbert  
Referee
Seiler, Peter  
Lindner, Marko  orcid-logo
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2022-11-04
Institut
Regelungstechnik E-14  
TORE-DOI
10.15480/882.4763
TORE-URI
http://hdl.handle.net/11420/14242
Citation
Dr. Hut 978-3-8439-5238-5: (2023)
Publisher
Dr. Hut
This thesis presents results on cooperative control of vehicles by studying modular architectures consisting of networks of simplified models and complex vehicles tracking the trajectories generated by these simplified models. Convex intervehicle interactions from formation control and non-convex inter-vehicle interactions emerging from flocking dynamics are studied within the context of a source-seeking problem, where vehicles are required to locate the minimum of an external scalar field. The main analysis tools are dissipativity theory and integral quadratic
constraints while the experimental results are with quadrotors.
Subjects
Multi-agent systems
Robust control
Linear matrix inequalities
DDC Class
600: Technik
620: Ingenieurwissenschaften
Lizenz
https://creativecommons.org/licenses/by/4.0/
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