Doctoral Dissertations


"Over the past decade, the control research community has given significant attention to formation control of multiple unmanned vehicles due to a variety of commercial and defense applications. Consensus-based formation control is considered to be more robust and reliable when compared to other formation control methods due to scalability and inherent properties that enable the formation to continue even if one of the vehicles experiences a failure. In contrast to existing methods on formation control where the dynamics of the vehicles are neglected, this dissertation in the form of four papers presents consensus-based formation control of unmanned vehicles-both ground and aerial, by incorporating the vehicle dynamics.

First, neural networks (NN)-based optimal adaptive consensus-based formation control over finite horizon is presented for networked mobile robots or agents in the presence of uncertain robot/agent dynamics and communication. In the second paper, a hybrid automaton is proposed to control the nonholonomic mobile robots in two discrete modes: a regulation mode and a formation keeping mode in order to overcome well-known stabilization problem. The third paper presents the design of a distributed consensus-based event-triggered formation control of networked mobile robots using NN in the presence of uncertain robot dynamics to minimize communication. All these papers assume state availability.

Finally, the fourth paper extends the consensus effort by introducing the development of a novel nonlinear output feedback NN-based controller for a group of quadrotor UAVs"--Abstract, page iv.


Sarangapani, Jagannathan, 1965-
Acar, Levent

Committee Member(s)

Zawodniok, Maciej Jan, 1975-
Erickson, Kelvin T.
Dagli, Cihan H., 1949-


Electrical and Computer Engineering

Degree Name

Ph. D. in Electrical Engineering


Missouri University of Science and Technology

Publication Date

Fall 2016

Journal article titles appearing in thesis/dissertation

  • Neural network-based finite horizon optimal adaptive consensus control of mobile robot formations
  • Hybrid consensus-based control of nonholonomic mobile robot formation
  • Distributed consensus-based event-triggered approximate control of nonholonomic mobile robot formations
  • Modified consensus-based output feedback control of quadrotor UAV formations using neural networks


xii, 218 pages

Note about bibliography

Includes bibliographic references.


© 2016 Haci Mehmet Guzey, All rights reserved.

Document Type

Dissertation - Open Access

File Type




Subject Headings

Vehicles, Remotely piloted -- Automatic control
Intelligent control systems -- Mathematical models
Drone aircraft -- Automatic control
Robots -- Control systems

Thesis Number

T 11028

Electronic OCLC #