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Dissertation/Thesis Abstract

Observer-based feedback control for stabilization of collective motion
by Napora, Seth Ochse, M.S., University of Maryland, College Park, 2011, 68; 1501278
Abstract (Summary)

Multi-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.

Indexing (document details)
Advisor: Paley, Derek A.
Commitee: Akin, David, Sanner, Robert M.
School: University of Maryland, College Park
Department: Aerospace Engineering
School Location: United States -- Maryland
Source: MAI 50/02M, Masters Abstracts International
Subjects: Aerospace engineering
Keywords: Collective motion, Underwater vehicles
Publication Number: 1501278
ISBN: 978-1-124-97024-0
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