Control for Stabilization of Collective Motion

Title of Thesis: OBSERVER-BASED FEEDBACK CONTROL FOR STABILIZATION OF COLLECTIVE MOTION Seth Ochse Napora, Master of Science, 2011 Thesis directed by: Professor Derek A. Paley Department of Aerospace Engineering Multi-vehicle control has applications in weather monitoring and ocean sampling. Previous work in this field has produced theoretically justified algorithms for stabilization of parallel and circular motions of self-propelled Newtonian particles using measurements of relative position and relative velocity. This paper describes an observer-based feedback control algorithm for stabilization of parallel and circular motions using measurements of relative position only. The algorithm utilizes information about vehicle dynamics and turning rates to estimate relative velocity. Theoretical justification is provided for the vehicle model, and numerical simulations suggest that the algorithm extends to a three-dimensional rigid body model. The algorithm has been implemented on a laboratory-scale underwater vehicle testbed, and we describe the results of experimental validation in the University of Maryland’s Neutral Buoyancy Research Facility. OBSERVER-BASED FEEDBACK CONTROL FOR STABILIZATION OF COLLECTIVE MOTION by Seth Ochse Napora Thesis submitted to the Faculty of the Graduate School of the University of Maryland, College Park in partial fulfillment of the requirements for the degree of Master of Science 2011 Advisory Committee: Professor Derek A. Paley, Chair Professor Robert M. Sanner Professor David Akin c © Copyright by Seth Ochse Napora 2011