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Graph Theoretic Framework Based Cooperative Control And Estimation Of Multiple UAVS For Target Tracking
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ahmed, Mousumi |
| Copyright Year | 2012 |
| Abstract | GRAPH THEORETIC FRAMEWORK BASED COOPERATIVE CONTROL AND ESTIMATION OF MULTIPLE UAVS FOR TARGET TRACKING MOUSUMI AHMED, Ph.D. The University of Texas at Arlington, 2012 Supervising Professor: Kamesh Subbarao Designing the control technique for nonlinear dynamic systems is a significant challenge. Approaches to designing a nonlinear controller are studied and an extensive study on backstepping based technique is performed in this research with the purpose of tracking a moving target autonomously. Our main motivation is to explore the controller for cooperative and coordinating unmanned vehicles in a target tracking application. To start with, a general theoretical framework for target tracking is studied and a controller in three dimensional environment for a single UAV is designed. This research is primarily focused on finding a generalized method which can be applied to track almost any reference trajectory. The backstepping technique is employed to derive the controller for a simplified UAV kinematic model. This controller can compute three autopilot modes i.e. velocity, ground heading (or course angle), and flight path angle for tracking the unmanned vehicle. Numerical implementation is performed in |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://rc.library.uta.edu/uta-ir/bitstream/handle/10106/11140/Ahmed_uta_2502D_11691.pdf?isAllowed=y&sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
