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Theses/Dissertations

Electrical Engineering

Louisiana Tech University

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Unmanned Vehicles Formation Control In 3d Space And Cooperative Search, Saba Ramazani Jul 2016

Unmanned Vehicles Formation Control In 3d Space And Cooperative Search, Saba Ramazani

Doctoral Dissertations

The first problem considered in this dissertation is the decentralized non-planar formation control of multiple unmanned vehicles using graph rigidity. The three-dimensional formation control problem consists of n vehicles operating in a plane Q and r vehicles that operate in an upper layer outside of the plane Q. This can be referred to as a layered formation control where the objective is for all vehicles to cooperatively acquire a predefined formation shape using a decentralized control law. The proposed control strategy is based on regulating the inter-vehicle distances and uses backstepping and Lyapunov approaches. Three different models, with increasing level ...