Distributed Formation Control of Double-Integrator Vehicles in the Presence of Unknown Constant Disturbances

Pedro Miguel Dias Trindade

Key information

Authors:

Pedro Miguel Dias Trindade (Pedro Miguel Dias Pateiro Trindade)

Supervisors:

Pedro Tiago Martins Batista (Pedro Tiago Martins Batista); Rita Maria Mendes de Almeida Correia da Cunha (Rita Maria Mendes de Almeida Correia da Cunha)

Published in

November 29, 2019

Abstract

The goal of this dissertation is the development of robust distributed and cooperative control algorithms for formation tracking by teams of vehicles modeled as double integrators, with application to multirotor vehicles. To this end, consensus-based protocols are considered, to achieve coordination between the vehicles in a distributed manner, meaning that only local information is either exchanged or perceived. The research conducted on the topic of consensus-based protocols for agents modeled as single and double integrators is described, and a consensus protocol for agents modeled as triple integrators is proposed and analyzed, providing sufficient and necessary conditions for convergence. Also, a new criterion for convergence of the existing second-order consensus protocol for double integrator modeled agents is provided. The effect of constant disturbances on the ability to achieve consensus is then analyzed. With these results in mind, the third-order consensus protocol is then used to incorporate integral action in the formation tracking controller used for double integrator agents. Finally, an experimental setup was installed in a controlled indoor environment, which allowed for testing, acquisition of experimental data, and validation of the proposed solutions using multirotor vehicles.