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Formation Control Of Multiple Quadrotors, Miguel Alejandro Garcia
Formation Control Of Multiple Quadrotors, Miguel Alejandro Garcia
Theses and Dissertations
This thesis studies formation control of multiple quadrotors under different conditions. Two controller design approaches are proposed. In the first approach, it is assumed that the dynamics of each quadrotor is unknown and there is disturbance. With the aid of distributed estimation and the universal approximation property of neural networks, distributed tracking controllers are proposed. Simulation shows the effectiveness of the proposed controllers. In the second approach, it is assumed that the inertia parameters are unknown. With the aid of distributed estimation, online data estimation, and optimal control theory, distributed sub-optimal tracking controllers are proposed. Simulation results show the effectiveness …
Quantized State Simulation Of Electrical Power Systems, Joseph Micah Hood
Quantized State Simulation Of Electrical Power Systems, Joseph Micah Hood
Theses and Dissertations
An alternative is proposed to the current state-of-the-art simulation methods for the transient simulation of electrical power systems. The proposed method combines the Latency Insertion Method (LIM), the Quantized Discrete Event Specification (QDEVS), and the Quantized State System (QSS) method of integration. Using LIM, the power system state equations are decoupled in a way that allows the formulation of the system into a QDEVS-compliant model, which can then be directly solved with various QSS integration techniques. This combination of methods is called the Quantized DEVS-LIM method, or simply, QDL. A key feature of QDL is the asynchronous updates of all …