Author ORCID Identifier

https://orcid.org/0000-0001-5643-5466

Year of Publication

2017

Degree Name

Doctor of Philosophy (PhD)

Document Type

Doctoral Dissertation

College

Engineering

Department

Mechanical Engineering

First Advisor

Dr. Jesse B. Hoagg

Abstract

We present multi-agent control methods that address flocking in continuous-time and discrete-time settings. The method is decentralized, that is, each agents controller relies on local sensing to determine the relative positions and velocities of nearby agents. In the continuous-time setting, each agent has double-integrator dynamics. In the discrete-time setting, each agent has the discrete-time double-integrator dynamics obtained by sampling the continuous-time double integrator and applying a zero-order hold on the control input. We demonstrate using analysis, numerical simulations, and experimental demonstrations that agents using the flocking methods converge to flocking formations and follow the centralized leader (if applicable).

Digital Object Identifier (DOI)

https://doi.org/10.13023/ETD.2017.400

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