Design of Distributed Control System for AUV Swarms to Circle Around a Body, M.Sc. Thesis Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
In this thesis, a new procedure is presented for control and analysis of a group of autonomous underwater vehicle achieving flocking motion by using a fuzzy-logic-based attractive/repulsive function. Two cooperative control laws are proposed for a group of autonomous agents to achieve flocking formations related to two different centers (mass center and geometric center) of the flock. The first one is designed for flocking motion guided at mass center and the other for geometric center. Desired path for AUV’s has been developed using Virtual agents with mass point dynamics. Smooth graph Laplacian is introduced to overcome the difficulties in theoretical analysis. A new fuzzy-logic-based...
Cataloging briefDesign of Distributed Control System for AUV Swarms to Circle Around a Body, M.Sc. Thesis Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
In this thesis, a new procedure is presented for control and analysis of a group of autonomous underwater vehicle achieving flocking motion by using a fuzzy-logic-based attractive/repulsive function. Two cooperative control laws are proposed for a group of autonomous agents to achieve flocking formations related to two different centers (mass center and geometric center) of the flock. The first one is designed for flocking motion guided at mass center and the other for geometric center. Desired path for AUV’s has been developed using Virtual agents with mass point dynamics. Smooth graph Laplacian is introduced to overcome the difficulties in theoretical analysis. A new fuzzy-logic-based...
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