Robust Decentralized Formation Flight Control
Joint Authors
Source
International Journal of Aerospace Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-09-08
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Engineering Sciences and Information Technology
Abstract EN
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.
American Psychological Association (APA)
Weihua, Zhao& Go, Tiauw Hiong. 2011. Robust Decentralized Formation Flight Control. International Journal of Aerospace Engineering،Vol. 2011, no. 2011, pp.1-13.
https://search.emarefa.net/detail/BIM-450396
Modern Language Association (MLA)
Weihua, Zhao& Go, Tiauw Hiong. Robust Decentralized Formation Flight Control. International Journal of Aerospace Engineering No. 2011 (2011), pp.1-13.
https://search.emarefa.net/detail/BIM-450396
American Medical Association (AMA)
Weihua, Zhao& Go, Tiauw Hiong. Robust Decentralized Formation Flight Control. International Journal of Aerospace Engineering. 2011. Vol. 2011, no. 2011, pp.1-13.
https://search.emarefa.net/detail/BIM-450396
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-450396