OBSERVER-BASED FEEDBACK CONTROL FOR STABILIZATION OF COLLECTIVE MOTION

dc.contributor.advisorPaley, Derek Aen_US
dc.contributor.authorNapora, Seth Ochseen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2011-10-08T06:16:09Z
dc.date.available2011-10-08T06:16:09Z
dc.date.issued2011en_US
dc.description.abstractMulti-vehicle control has applications in weather monitoring and ocean sampling. Previous work in this field has produced theoretically justified algorithms for stabilization of parallel and circular motions of self-propelled Newtonian particles using measurements of relative position and relative velocity. This paper describes an observer-based feedback control algorithm for stabilization of parallel and circular motions using measurements of relative position only. The algorithm utilizes information about vehicle dynamics and turning rates to estimate relative velocity. Theoretical justification is provided for the vehicle model, and numerical simulations suggest that the algorithm extends to a three-dimensional rigid body model. The algorithm has been implemented on a laboratory-scale underwater vehicle testbed, and we describe the results of experimental validation in the University of Maryland's Neutral Buoyancy Research Facility.en_US
dc.identifier.urihttp://hdl.handle.net/1903/12010
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pquncontrolledCollective Motionen_US
dc.subject.pquncontrolledUnderwater Vehiclesen_US
dc.titleOBSERVER-BASED FEEDBACK CONTROL FOR STABILIZATION OF COLLECTIVE MOTIONen_US
dc.typeThesisen_US

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