Formation Control of Multiple Quadrotors

Author

Miguel Alejandro Garcia, The University of Texas Rio Grande Valley

Date of Award

5-2023

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Electrical Engineering

First Advisor

Dr. Wenjie Dong

Second Advisor

Dr. Weidong Kuang

Third Advisor

Dr. Alexander Domijan

Abstract

This thesis studies formation control of multiple quadrotors under different conditions. Two controller design approaches are proposed. In the first approach, it is assumed that the dynamics of each quadrotor is unknown and there is disturbance. With the aid of distributed estimation and the universal approximation property of neural networks, distributed tracking controllers are proposed. Simulation shows the effectiveness of the proposed controllers. In the second approach, it is assumed that the inertia parameters are unknown. With the aid of distributed estimation, online data estimation, and optimal control theory, distributed sub-optimal tracking controllers are proposed. Simulation results show the effectiveness of the proposed controllers.

Comments

Copyright 2023 Miguel Alejandro Garcia. All Rights Reserved.

https://go.openathens.net/redirector/utrgv.edu?url=https://www.proquest.com/dissertations-theses/formation-control-multiple-quadrotors/docview/2842685010/se-2?accountid=7119

Recommended Citation

Garcia, Miguel Alejandro, "Formation Control of Multiple Quadrotors" (2023). Theses and Dissertations. 1216.
https://scholarworks.utrgv.edu/etd/1216