Robust Decentralized Formation Flight Control
Motivated by the idea of multiplexed model predictive control (MMPC), this paper introduces a new framework for unmanned aerial vehicles (UAVs) formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system w...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/157590 |
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| _version_ | 1832568433096523776 |
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| author | Zhao Weihua Tiauw Hiong Go |
| author_facet | Zhao Weihua Tiauw Hiong Go |
| author_sort | Zhao Weihua |
| collection | DOAJ |
| description | Motivated by the idea of multiplexed model predictive control (MMPC), this paper introduces a new framework for unmanned aerial vehicles (UAVs) formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights. |
| format | Article |
| id | doaj-art-6470eb20463c41279c68d0ab1c5e2c15 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-6470eb20463c41279c68d0ab1c5e2c152025-02-03T00:59:04ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742011-01-01201110.1155/2011/157590157590Robust Decentralized Formation Flight ControlZhao Weihua0Tiauw Hiong Go1School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, SingaporeSchool of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, SingaporeMotivated by the idea of multiplexed model predictive control (MMPC), this paper introduces a new framework for unmanned aerial vehicles (UAVs) formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.http://dx.doi.org/10.1155/2011/157590 |
| spellingShingle | Zhao Weihua Tiauw Hiong Go Robust Decentralized Formation Flight Control International Journal of Aerospace Engineering |
| title | Robust Decentralized Formation Flight Control |
| title_full | Robust Decentralized Formation Flight Control |
| title_fullStr | Robust Decentralized Formation Flight Control |
| title_full_unstemmed | Robust Decentralized Formation Flight Control |
| title_short | Robust Decentralized Formation Flight Control |
| title_sort | robust decentralized formation flight control |
| url | http://dx.doi.org/10.1155/2011/157590 |
| work_keys_str_mv | AT zhaoweihua robustdecentralizedformationflightcontrol AT tiauwhionggo robustdecentralizedformationflightcontrol |