Finite-time consensus-based formation control with collision avoidance for a multi-UAV system

Unmanned aerial vehicle, which is abbreviated as “UAV”. How to make every UAV in large-scale network follows its designed route and reaches the planned location within finite-time? And how to make sure that every single UAV could avoid from being collided with others during the process of reac...

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Main Author: Cao, Shiming
Other Authors: Su Rong
Format: Theses and Dissertations
Language:English
Published: 2018
Subjects:
Online Access:http://hdl.handle.net/10356/76026
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-760262023-07-04T15:56:52Z Finite-time consensus-based formation control with collision avoidance for a multi-UAV system Cao, Shiming Su Rong School of Electrical and Electronic Engineering Mondal Sanjoy DRNTU::Engineering::Electrical and electronic engineering Unmanned aerial vehicle, which is abbreviated as “UAV”. How to make every UAV in large-scale network follows its designed route and reaches the planned location within finite-time? And how to make sure that every single UAV could avoid from being collided with others during the process of reaching desired location? Those are the hot topics that deserve more discussion, meanwhile, they are the motivations for our works. In this thesis, a dynamic controller for single quadrotor based on global fast TSMC and trajectory planning method based on APF are introduced first. Then, for multi-quadrotor consensus task, a formation control system is introduced based on multi-agent finite-time consensus strategy and collision avoidance method of APF. Meanwhile, very detailed simulation are displayed every time a control strategy is introduced. Master of Science (Computer Control and Automation) 2018-09-18T07:18:25Z 2018-09-18T07:18:25Z 2018 Thesis http://hdl.handle.net/10356/76026 en 77 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Cao, Shiming
Finite-time consensus-based formation control with collision avoidance for a multi-UAV system
description Unmanned aerial vehicle, which is abbreviated as “UAV”. How to make every UAV in large-scale network follows its designed route and reaches the planned location within finite-time? And how to make sure that every single UAV could avoid from being collided with others during the process of reaching desired location? Those are the hot topics that deserve more discussion, meanwhile, they are the motivations for our works. In this thesis, a dynamic controller for single quadrotor based on global fast TSMC and trajectory planning method based on APF are introduced first. Then, for multi-quadrotor consensus task, a formation control system is introduced based on multi-agent finite-time consensus strategy and collision avoidance method of APF. Meanwhile, very detailed simulation are displayed every time a control strategy is introduced.
author2 Su Rong
author_facet Su Rong
Cao, Shiming
format Theses and Dissertations
author Cao, Shiming
author_sort Cao, Shiming
title Finite-time consensus-based formation control with collision avoidance for a multi-UAV system
title_short Finite-time consensus-based formation control with collision avoidance for a multi-UAV system
title_full Finite-time consensus-based formation control with collision avoidance for a multi-UAV system
title_fullStr Finite-time consensus-based formation control with collision avoidance for a multi-UAV system
title_full_unstemmed Finite-time consensus-based formation control with collision avoidance for a multi-UAV system
title_sort finite-time consensus-based formation control with collision avoidance for a multi-uav system
publishDate 2018
url http://hdl.handle.net/10356/76026
_version_ 1772829096334589952