Theses and Dissertations - UTB/UTPA

Date of Award


Document Type


Degree Name

Master of Science (MS)


Electrical Engineering

First Advisor

Dr. Wenjie Dong

Second Advisor

Dr. Jun Peng

Third Advisor

Dr. Xiang Lian


In this thesis, distributed formation tracking control of multiple car-like robots is studied. Each vehicle can communicate and send or receive states information to or from a portion of other vehicles. The communication topology is characterized by a graph. Each vehicle is considered as a vertex in the graph and each communication link is considered as an edge in the graph. The unicycles are modeled firstly by both kinematic systems. Distributed controllers for vehicle kinematics are designed with the aid of graph theory. Two control algorithms are designed based on the chained-form system and its transformation respectively. Both algorithms achieve exponential convergence to the desired reference states. Then vehicle dynamics is considered and dynamic controllers are designed with the aid of two types of kinematic-based controllers proposed in the first section. Finally, a special case of switching graph is addressed considering the probability of vehicle disability and links breakage.


Copyright 2014 Chunyu Chen. All Rights Reserved.

Granting Institution

University of Texas-Pan American