Three-Dimensional Motion Coordination in a Time-Varying Flowfield

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dc.contributor.advisorPaley, Derek Aen_US
dc.contributor.authorHernandez-Doran, Soniaen_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.accessioned2009-10-10T05:31:33Z
dc.date.available2009-10-10T05:31:33Z
dc.date.issued2009en_US
dc.description.abstractDecentralized algorithms that stabilize three-dimensional formations of unmanned vehicles in a time-varying flowfield have applications in environmental monitoring in the atmosphere and ocean. This thesis provides Lyapunov-based algorithms to control a system of self-propelled particles traveling in three dimensions at a constant speed relative to a spatiotemporal flowfield. A particle's inertial velocity is the sum of its velocity relative to the flowfield plus the velocity of the flowfield. Multiple particles can be steered to form parallel, helical, and circular formations. A special case of the three-dimensional model is also studied, in which the particles travel on the surface of a sphere. In this case, we provide Lyapunov-based algorithms that stabilize circular formations in a time-varying flowfield on a rotating sphere. Because we are interested in using unmanned-vehicle formations for environmental monitoring, we simulate our results using numerical simulations of time-varying flowfields that resemble tornadoes and hurricanes.en_US
dc.format.extent2275223 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/9685
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.subject.pquncontrolledCooperative Controlen_US
dc.subject.pquncontrolledGraph Laplacianen_US
dc.subject.pquncontrolledLyapunov Designen_US
dc.titleThree-Dimensional Motion Coordination in a Time-Varying Flowfielden_US
dc.typeThesisen_US

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