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Adaptive formation control of cooperative multi-vehicle systems

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  1. Tez No: 540059
  2. Yazar: SAMET GÜLER
  3. Danışmanlar: Dr. BARIŞ FİDAN
  4. Tez Türü: Doktora
  5. Konular: Mekatronik Mühendisliği, Mechatronics Engineering
  6. Anahtar Kelimeler: Belirtilmemiş.
  7. Yıl: 2015
  8. Dil: İngilizce
  9. Üniversite: University of Waterloo
  10. Enstitü: Yurtdışı Enstitü
  11. Ana Bilim Dalı: Belirtilmemiş.
  12. Bilim Dalı: Belirtilmemiş.
  13. Sayfa Sayısı: 155

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Özet (Çeviri)

The literature comprises many approaches and results for the formation control of multivehicle systems; however, the results established for the cases where the vehicles contain parametric uncertainties are limited. Motivated by the need for explicit characterization of the e ects of uncertainties on multi-vehicle formation motions, we study distributed adaptive formation control of multi-vehicle systems in this thesis, focusing on di erent interrelated sub-objectives. We rst examine the cohesive motion control problem of minimally persistent formations of autonomous vehicles. Later, we consider parametric uncertainties in vehicle dynamics in such autonomous vehicle formations. Following an indirect adaptive control approach and utilizing the features of the certainty equivalence principle, we propose control laws to solve maneuvering problem of the formations, robust to parametric modeling uncertainties. Next, as a formation acquisition/closing ranks problem, we study the adaptive station keeping problem, which is de ned as positioning an autonomous mobile vehicle A inside a multi-vehicle network, having speci ed distances from the existing vehicles of the network. In this setting, a single-integrator model is assumed for the kinematics for the vehicle A, and A is assumed to have access to only its own position and its continuous distance measurements to the vehicles of the network. We partition the problem into two sub-problems; localization of the existing vehicles of the network using range-only measurements and motion control of A to its desired location within the network with respect to other vehicles. We design an indirect adaptive control scheme, provide formal stability and convergence analysis and numerical simulation results, demonstrating the characteristics and performance of the design. Finally, we study re-design of the proposed station keeping scheme for the more challenging case where the vehicle A has non-holonomic motion dynamics and does not have access to its self-location information. Overall, the thesis comprises methods and solutions to four correlated formation control problems in the direction of achieving a uni ed distributed adaptive formation control framework for multi-vehicle systems.

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