Formation Control with Bounded Controls and Collision Avoidance

Zachary Lippay
This dissertation presents new results on multi-agent formation control and applies the new control algorithms to quadrotor unmanned air vehicles. First, this dissertation presents a formation control algorithm for double-integrator agents, where the formation is time varying and the agents’ controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). The main analytic results provide sufficient conditions such that all agents converge to the desired time-varying relative positions with one another and the leader,...
This data repository is not currently reporting usage information. For information on how your repository can submit usage information, please see our documentation.