Variable Formation & Decentralized Control of Multi-Quadrotor Having Same Dynamic System Using Consensus Algorithm, M.Sc. Thesis Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
Since Formation control have potentail applications in civil and military industries, decenterlized control of formation control is studied in this work using consensus algorithm. A specific robot quadrotor with 3D motion is used in this work. Quadrotor is an underactuated vehicle. First, we derivate twice from dynamical equations of linear positions. Hence, we can obtain appropriate form using linearization of output equations for design a consensus control algorithm. It is needed to design fourth order control algorithm for control of multiagent systems, beacause of twice derivation. Two methods that have been used for formation control in many works are potential function method and...
Cataloging briefVariable Formation & Decentralized Control of Multi-Quadrotor Having Same Dynamic System Using Consensus Algorithm, M.Sc. Thesis Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
Since Formation control have potentail applications in civil and military industries, decenterlized control of formation control is studied in this work using consensus algorithm. A specific robot quadrotor with 3D motion is used in this work. Quadrotor is an underactuated vehicle. First, we derivate twice from dynamical equations of linear positions. Hence, we can obtain appropriate form using linearization of output equations for design a consensus control algorithm. It is needed to design fourth order control algorithm for control of multiagent systems, beacause of twice derivation. Two methods that have been used for formation control in many works are potential function method and...
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