Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight
Joint Authors
Sun, Xiuxia
Deng, Xiongfeng
Liu, Shuguang
Zhang, Boyang
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-06-09
Country of Publication
Egypt
No. of Pages
18
Abstract EN
This paper presents a dynamical recurrent neural network- (RNN-) based model predictive control (MPC) structure for the formation flight of multiple unmanned quadrotors.
A distributed hierarchical control system with the translation subsystem and rotational subsystem is proposed to handle the formation-tracking problem for each quadrotor.
The RNN-based MPC is proposed for each subsystem, where the RNN is introduced as the predictive model in MPC.
And to improve the modeling accuracy, an adaptive updating law is developed to tune weights online for the RNN.
Besides, the adaptive differential evolution (DE) algorithm is utilized to solve the optimization problem for MPC.
Furthermore, the closed-loop stability is analyzed; meanwhile, the convergence of the DE algorithm is discussed as well.
Finally, some simulation examples are provided to illustrate the validity of the proposed control structure.
American Psychological Association (APA)
Zhang, Boyang& Sun, Xiuxia& Liu, Shuguang& Deng, Xiongfeng. 2019. Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-18.
https://search.emarefa.net/detail/BIM-1156892
Modern Language Association (MLA)
Zhang, Boyang…[et al.]. Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-18.
https://search.emarefa.net/detail/BIM-1156892
American Medical Association (AMA)
Zhang, Boyang& Sun, Xiuxia& Liu, Shuguang& Deng, Xiongfeng. Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-18.
https://search.emarefa.net/detail/BIM-1156892
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1156892