Spatial Swarm Robotics and Decentralized and Scalable Control Mission

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Mostafavi, Ehsan | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 46206 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Sayyaadi, Hassan
Abstract:
Swarm robots have been interested by researchers in recent years. The most important reason of this attention is the abilities of these systems for doing some works that a single robot can’t do them alone. The goal of this article is formation control of a group of flying robots with nonholonomic dynamics. The agents are considered helicopters with dimension, mass and moment of inertia. Firstly, the dynamics equation of helicopter will be derived as for Newton-Euler method. Next, input-output equations will be derived and controller will be designed by using sliding mode method. Main rotor and tail rotor thrusts, roll and pitch torques of main rotor are the system inputs. The control method of the group is decentralized and hierarchical leader-follower method will be used for sy-stem formation control. Each agent does appropriate reactions and adjusts its relative distances and angles as for informations which are received from others. Also, the simulations will be shown in the result section
Keywords:
Helicopter ; Nonholonomic Dynamic ; Swarm Control ; Newton-Euler Approach ; Sliding Mode ; Space Robot

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