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https://doi.org/10.15480/882.4763
Title: | Distributed control of multi-vehicle systems using modular architectures | Language: | English | Authors: | Datar, Adwait | Keywords: | Multi-agent systems; Robust control; Linear matrix inequalities | Issue Date: | 2023 | Examination Date: | 4-Nov-2022 | Publisher: | Dr. Hut | Abstract (german): | Diese Dissertation präsentiert neue Ergebnisse zur kooperativen Regelung von Fahrzeugen. Modulare Architekturen werden untersucht, die aus Netzwerken vereinfachter Modelle und komplexer Fahrzeuge bestehen, die die von diesen vereinfachten Modellen erzeugten Trajektorien verfolgen. Dissipativitätstheorie und \textit{integral quadratic constraints} werden verwendet, um hinreichende Bedingungen für Stabilität und Regelgüte zu finden, die höchstens linear mit der Netzwerkgröße skalieren. Konvexe und nicht-konvexe Interaktionen zwischen Fahrzeugen werden im Zusammenhang mit einem \textit{source-seeking} Problem betrachtet, bei dem Fahrzeuge das Minimum eines externen Skalarfelds lokalisieren müssen. Experimente mit Quadrotoren und Simulationsstudien veranschaulichen die Ergebnisse. |
Abstract (english): | 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. |
URI: | http://hdl.handle.net/11420/14242 | DOI: | 10.15480/882.4763 | ISBN: | 978-3-8439-5238-5 | Institute: | Regelungstechnik E-14 | Document Type: | Thesis | Thesis Type: | Doctoral Thesis | Advisor: | Werner, Herbert | Referee: | Seiler, Peter Lindner, Marko ![]() |
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Appears in Collections: | Publications with fulltext |
Files in This Item:
File | Description | Size | Format | |
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Convex_quadratic_field_top_oblique_view.mp4 | Video for Fig.2.3 | 35,01 MB | Unknown | View/Open |
combined_oblique_top_need_to_add_animation_log_convex.mp4 | Video for Fig.2.4 | 38,43 MB | Unknown | View/Open |
combined_oblique_top.mp4 | Video for Fig. 2.5 | 35,8 MB | Unknown | View/Open |
Animated_experimental_data.mp4 | Visualization of experimental data for Fig. 2.3, Fig. 2.4 and Fig.2.5 | 44,15 MB | Unknown | View/Open |
AD_Dissertation_with_meta_data.pdf | 4,55 MB | Adobe PDF | View/Open![]() |
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