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