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Fall 2009
The development, implementation, and testing of a leader-follower based robust nonlinear formation controller is discussed in this thesis. This controller uses sliding mode control on the length and angle between the leader and follower vessels to produce the desired formation. A boat model,...
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Spring 2022
Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim...