Cooperative Control of Multiple Spacecraft Subject to Measurement Uncertainties and Time Delays
Technical Report,14 Apr 2016,12 Jul 2019
University of Texas at Arlington Arlington United States
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The purpose of the project was to develop cooperative guidance, and control laws for multiple vehicles subject to communication delays. Potential function-based methods were studied for path planning and trajectory synthesis and extended to formulate the cooperation problem. Lyapunov based control design methods and nonlinear model predictive control were studied for the cooperative control problem. The guidance, and control algorithms were implemented on wheeled mobile robots in a Cyber-Physical Systems setup to study the effect of time delays in communicating with the platforms and receiving communication from it. The performance of the algorithms was demonstrated on the experimental test platform containing three wheeled robots.