Decentralized control of multi-agent aerial transportation system

Handle URI:
http://hdl.handle.net/10754/623419
Title:
Decentralized control of multi-agent aerial transportation system
Authors:
Toumi, Noureddine ( 0000-0003-4130-7845 )
Abstract:
Autonomous aerial transportation has multiple potential applications including emergency cases and rescue missions where ground intervention may be difficult. In this context, the following work will address the control of multi-agent Vertical Take-off and Landing aircraft (VTOL) transportation system. We develop a decentralized method. The advantage of such a solution is that it can provide better maneuverability and lifting capabilities compared to existing systems. First, we consider a cooperative group of VTOLs transporting one payload. The main idea is that each agent perceive the interaction with other agents as a disturbance while assuming a negotiated motion model and imposing certain magnitude bounds on each agent. The theoretical model will be then validated using a numerical simulation illustrating the interesting features of the presented control method. Results show that under specified disturbances, the algorithm is able to guarantee the tracking with a minimal error. We describe a toolbox that has been developed for this purpose. Then, a system of multiple VTOLs lifting payloads will be studied. The algorithm assures that the VTOLs are coordinated with minimal communication. Additionally, a novel gripper design for ferrous objects is presented that enables the transportation of ferrous objects without a cable. Finally, we discuss potential connections to human in the loop transportation systems.
Advisors:
Shamma, Jeff S. ( 0000-0001-5638-9551 )
Committee Member:
Laleg-Kirati, Taous-Meriem ( 0000-0001-5944-0121 ) ; Ghanem, Bernard ( 0000-0002-5534-587X )
KAUST Department:
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Program:
Electrical Engineering
Issue Date:
Apr-2017
Type:
Thesis
Appears in Collections:
Theses

Full metadata record

DC FieldValue Language
dc.contributor.advisorShamma, Jeff S.en
dc.contributor.authorToumi, Noureddineen
dc.date.accessioned2017-05-09T08:49:24Z-
dc.date.available2017-05-09T08:49:24Z-
dc.date.issued2017-04-
dc.identifier.urihttp://hdl.handle.net/10754/623419-
dc.description.abstractAutonomous aerial transportation has multiple potential applications including emergency cases and rescue missions where ground intervention may be difficult. In this context, the following work will address the control of multi-agent Vertical Take-off and Landing aircraft (VTOL) transportation system. We develop a decentralized method. The advantage of such a solution is that it can provide better maneuverability and lifting capabilities compared to existing systems. First, we consider a cooperative group of VTOLs transporting one payload. The main idea is that each agent perceive the interaction with other agents as a disturbance while assuming a negotiated motion model and imposing certain magnitude bounds on each agent. The theoretical model will be then validated using a numerical simulation illustrating the interesting features of the presented control method. Results show that under specified disturbances, the algorithm is able to guarantee the tracking with a minimal error. We describe a toolbox that has been developed for this purpose. Then, a system of multiple VTOLs lifting payloads will be studied. The algorithm assures that the VTOLs are coordinated with minimal communication. Additionally, a novel gripper design for ferrous objects is presented that enables the transportation of ferrous objects without a cable. Finally, we discuss potential connections to human in the loop transportation systems.en
dc.language.isoenen
dc.subjectAerial transportationen
dc.subjectMulti-agent systemsen
dc.subjectCable suspended payloaden
dc.subjectSet valued theoryen
dc.subjectDecentralized controlen
dc.subjectVTOLen
dc.titleDecentralized control of multi-agent aerial transportation systemen
dc.typeThesisen
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
thesis.degree.grantorKing Abdullah University of Science and Technologyen_GB
dc.contributor.committeememberLaleg-Kirati, Taous-Meriemen
dc.contributor.committeememberGhanem, Bernarden
thesis.degree.disciplineElectrical Engineeringen
thesis.degree.nameMaster of Scienceen
dc.person.id137526en
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