Bijlsma, Jan Lyckle (2020) Distributed Formation Control in a Multi-agent Network. Integration Project, Industrial Engineering and Management.
|
Text
Jan_Lyckle_Bijlsma_Bachelor_Integration_project.pdf Download (1MB) | Preview |
|
![[img]](https://fse.studenttheses.ub.rug.nl/style/images/fileicons/text.png) |
Text
toestemming.pdf Restricted to Registered users only Download (98kB) |
Abstract
This research elaborates on the concepts of formation control, velocity tracking and leader-follower strategy in a port-Hamiltonian framework. First, in chapter 1, background information is provided about graph theory and the port-Hamiltonian framework, followed by the outline of the research. Then, the design and results of the formation controller, velocity tracking controller and leader-follower controller are presented in chapter 2, where the agents are modelled as fully actuated, single integrator agents and the variables of interest are velocity, position and displacement. The leader-follower controller uses the concepts of both formation control and velocity tracking control to create a stable system. The results are obtained via simulations in Matlab and Simulink models. The Simulink models are presented in appendix A and the Matlab scripts can be found in appendix B.
| Item Type: | Thesis (Integration Project) |
|---|---|
| Supervisor name: | Scherpen, J.M.A. and Munoz Arias, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Integration Project |
| Language: | English |
| Date Deposited: | 03 Jul 2020 11:22 |
| Last Modified: | 03 Jul 2020 11:22 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/22388 |
Actions (login required)
 |
View Item |