Theses and Dissertations - UTB/UTPA
Date of Award
5-2014
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Electrical Engineering
First Advisor
Dr. Wenjie Dong
Second Advisor
Dr. Jun Peng
Third Advisor
Dr. Xiang Lian
Abstract
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.
Granting Institution
University of Texas-Pan American
Comments
Copyright 2014 Chunyu Chen. All Rights Reserved.
https://www.proquest.com/dissertations-theses/distributed-formation-tracking-control-multiple/docview/1560676518/se-2