Cooperative Control of Multiple Spacecraft Subject to Measurement Uncertainties and Time Delays

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Jul 12, 2019
Accession Number
AD1088242

Entities

People

  • Kamesh Subbarao

Organizations

  • University of Texas at Arlington

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Autonomous Systems
  • Collision Avoidance
  • Control Systems
  • Differential Equations
  • Engineers
  • Government Procurement
  • Governments
  • Guidance
  • Law
  • Model Predictive Control
  • Motion Planning
  • Navigation
  • Nonlinear Dynamics
  • Nonlinear Model Predictive Control
  • Nonlinear Systems
  • Robots

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Cyber
  • Space
  • Space - Spacecraft Maneuvers