Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Nonlinear Controller Design For Uavs With Time-Varying Aerodynamic Uncertainties, Michail G. Michailidis
Nonlinear Controller Design For Uavs With Time-Varying Aerodynamic Uncertainties, Michail G. Michailidis
Electronic Theses and Dissertations
Unmanned Aerial Vehicles (UAVs) are here and they are here to stay. Unmanned Aviation has expanded significantly in recent years and research and development in the field of navigation and control have advanced beyond expectations. UAVs are currently being used for defense programs around the world but the range of applications is expected to grow in the near future, with civilian applications such as environmental and aerial monitoring, aerial surveillance and homeland security being some representative examples. Conventional and commercially available small-scale UAVs have limited utilization and applicability to executing specific short-duration missions because of limitations in size, payload, power …
3d Formation Control In Multi-Robot Teams Using Artificial Potential Fields, Sanjana Reddy Mohan
3d Formation Control In Multi-Robot Teams Using Artificial Potential Fields, Sanjana Reddy Mohan
Electronic Theses and Dissertations
Multi-robot teams find applications in emergency response, search and rescue operations, convoy support and many more. Teams of autonomous aerial vehicles can also be used to protect a cargo of airplanes by surrounding them in some geometric shape. This research develops a control algorithm to attract UAVs to one or a set of bounded geometric shapes while avoiding collisions, re-configuring in the event of departure or addition of UAVs and maneuvering in mission space while retaining the configuration. Using potential field theory, weighted vector fields are described to attract UAVs to a desired formation. In order to achieve this, three …