Oeben, Judith Marilène (2022) Displacement- and Distance-based Formation Control in the port-Hamiltonian Framework. Integration Project, Industrial Engineering and Management.
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Abstract
This research explores two different kinds of formation control in a port-Hamiltonian framework, namely displacement- and distance-based formation control. Moreover, the agents in this research are modelled by double-integrator dynamics. First, an introduction to formation control, and the port-Hamiltonian framework will be given based on previous research. Second, some preliminary knowledge on graph theory, port-Hamiltonian systems and formation control will be presented, after which the research problem is formulated. Next, displacement-based formation control is researched, proven to be stable and simulated in Matlab, after which distance-based formation control is researched in a similar fashion. Naturally, the conclusion and future research suggestions follow in the last section.
| Item Type: | Thesis (Integration Project) |
|---|---|
| Supervisor name: | Scherpen, J.M.A. and Taheri, M. and Li, N. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Integration Project |
| Language: | English |
| Date Deposited: | 12 Jul 2022 13:43 |
| Last Modified: | 12 Jul 2022 13:43 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/27789 |
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