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Full-Text Articles in Controls and Control Theory
Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay
Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay
Theses and Dissertations--Mechanical Engineering
This dissertation presents new results on multi-agent formation control and applies the new control algorithms to quadrotor unmanned air vehicles. First, this dissertation presents a formation control algorithm for double-integrator agents, where the formation is time varying and the agents’ controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). The main analytic results provide sufficient conditions such that all agents converge to the desired time-varying relative positions with one another and the leader, and have a priori bounded controls (if applicable). We also present results from rotorcraft experiments that demonstrate the algorithm with time-varying formations and bounded controls. …
Aether, Thomas Cameron, Kristine Colton, Daren Childers
Aether, Thomas Cameron, Kristine Colton, Daren Childers
Electrical Engineering
Aether is a RC-style autonomous air vehicle that utilizes GPS positioning along with a wireless communication system to achieve a computer-controlled flight.
This report will incorporate the acquisition, design, integration, implementation and testing phases of the UAV development. Furthermore a discussion of troubleshooting as well as improvements for future projects will be included.