Κατενεμημένα πρωτόκολλα ελέγχου σε φάλαγγες οχημάτων

Βεργίνης, Χρήστος; Verginis, Christos

dc.contributor.author	Βεργίνης, Χρήστος	el
dc.contributor.author	Verginis, Christos
dc.date.accessioned	2015-11-06T09:40:47Z
dc.date.available	2015-11-06T09:40:47Z
dc.date.issued	2015-11-06
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/41547
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.4946
dc.description	Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού”	en
dc.rights	Default License
dc.subject	Ρομποτική	en
dc.subject	Μη γραμμικός έλεγχος	el
dc.subject	Φάλαγγες οχημάτων	el
dc.subject	Αποκεντρωμένος έλεγχος	el
dc.subject	Διανεμημένα πρωτόκολλα ελέγχου	el
dc.subject	Nonlinear	en
dc.subject	Control	en
dc.subject	Platoon	en
dc.subject	Rrescribed performance	en
dc.subject	Robotics
dc.title	Κατενεμημένα πρωτόκολλα ελέγχου σε φάλαγγες οχημάτων	el
heal.type	masterThesis
heal.secondaryTitle	decentralized control protocols for vehicular platoons	en
heal.classification	Automatic control	en
heal.language	el
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2015-09-02
heal.abstract	In this work, we consider the formation control problem for vehicular platoons with unknown nonlinear dynamics operating in 1-dimensional and 2-dimensional Euclidean space. More specifically, we design a decentralized model-free control protocol in the sense that each vehicle utilizes only local relative information regarding its neighboring vehicles, obtained by its on-board sensors, to calculate its own control signal, without incorporating any prior knowledge of the model nonlinearities/disturbances or any approximation structures to acquire such knowledge. Additionally, the transient and steady state response is a priori determined by certain designer-specified performance functions and is fully decoupled by the agents' dynamic model, the number of vehicles composing the platoon and the control gains selection, which relaxes significantly the control design procedure. Moreover, collisions between successive vehicles as well as connectivity breaks owing to limited sensor capabilities are provably avoided. Finally, real-time experiments concerning the 1-D case as well as extensive simulation studies for both cases clarify the proposed control schemes and verify their effectiveness.	en
heal.advisorName	Κυριακόπουλος, Κώστας	el
heal.committeeMemberName	Παπαδόπουλος, Ευάγγελος	el
heal.committeeMemberName	Αντωνιάδης, Ιωάννης	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών	el
heal.academicPublisherID	ntua
heal.numberOfPages	70 σ.
heal.fullTextAvailability	true