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land’s Neutral Buoyancy Research Facility. OBSERVER-BASED FEEDBACK CONTROL FOR STABILIZATION OF COLLECTIVE MOTION (2011)
BibTeX
@MISC{Napora11land’sneutral,
author = {Seth Ochse Napora and Master Of Science and Derek A. Paley and Seth Ochse Napora and Ochse Napora},
title = {land’s Neutral Buoyancy Research Facility. OBSERVER-BASED FEEDBACK CONTROL FOR STABILIZATION OF COLLECTIVE MOTION},
year = {2011}
}
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Abstract
Multi-vehicle control has applications in weather monitoring and ocean sam-pling. 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 cir-cular 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 Mary-
Keyphrases
neutral buoyancy research facility relative velocity relative position cir-cular motion vehicle model numerical simulation circular motion experimental validation justified algorithm self-propelled newtonian particle ocean sam-pling weather monitoring observer-based feedback control algorithm previous work vehicle dynamic multi-vehicle control algorithm utilizes information laboratory-scale underwater vehicle three-dimensional rigid body model theoretical justification
