Έλεγχος Σχηματισμού Συστήματος Πολλαπλών Πρακτόρων Υποβρύχιων Οχημάτων Βάσει Θέσης και Βάσει Απόστασης

Γιάγκας, Φώτιος; Giagkas, Fotios

dc.contributor.author	Γιάγκας, Φώτιος	el
dc.contributor.author	Giagkas, Fotios	en
dc.date.accessioned	2018-07-19T10:05:37Z
dc.date.available	2018-07-19T10:05:37Z
dc.date.issued	2018-07-19
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/47353
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.8465
dc.description	Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού”	el
dc.rights	Default License
dc.subject	Σύστημα Πολλαπλών Πρακτόρων	el
dc.subject	Προκαθορισμένος Έλεγχος Απόδοσης	el
dc.subject	Έλεγχος Βάσει Θέσης	el
dc.subject	Έλεγχος Βάσει Απόστασης	el
dc.subject	Μη-επανδρωμένα Υποβρύχια Οχήματα	el
dc.subject	Multiagent systems	en
dc.subject	Prescribed performance control	en
dc.subject	Distance-based control	en
dc.subject	Position-based control	en
dc.subject	UUV's	en
dc.title	Έλεγχος Σχηματισμού Συστήματος Πολλαπλών Πρακτόρων Υποβρύχιων Οχημάτων Βάσει Θέσης και Βάσει Απόστασης	el
heal.type	masterThesis
heal.classification	Συστήματα Αυτομάτου Ελέγχου	el
heal.language	el
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2018-07-20
heal.abstract	In this thesis, we consider the formation control problem for an uncertain nonlinear multiagent system of Autonomous Underwater Vehicles in a leaderfollower scheme. A distributed adaptive control protocol of minimal complexity is used that achieves prescribed, arbitrarily fast and accurate formation establishment among the following agents and the leader, as well as parameter estimation of all following agents. The estimation and control laws are distributed in the sense that the control signal and the update laws of each agent are calculated based solely on local relative state information from its neighborhood set. Before use, the dynamic controller is modified in order to low the communication requirements (neighbor’s velocity). The modified dynamic controller is used separately with two different kinematic controllers. The first controller uses information based on the position of each agent’s neighbors while, in a more realistic approach, the position based kinematic controller is replaced by a kinematic controller based on distance. The decentralized distancebased formation control scheme with the guaranteed prescribed performance, besides ensuring the favorable transient behavior of the multiagent system, also deals with the problems of connectivity maintenance and collision avoidance between neighboring agents by appropriate design of the prescribed performance bounds on interagent distance errors. Furthermore, the control scheme increases formation robustness to shape distortions and it can prevent formation convergence to incorrect shapes under the effect of external disturbances which is likely to happen in distance based formation control methods. Finally, simulation of a specific project of a multiagent submarine vehicle system is being carried out with the addition of disturbances.	en
heal.advisorName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Κυριακόπουλος, Κωνσταντίνος	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	105 σ.	el
heal.fullTextAvailability	true