3-D Formulation of Formation Flight Based on Model Predictive Control with Collision Avoidance Scheme
Go, Tiauw Hiong.
Date of Issue2010
Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition (48th : 2010 : Florida, USA)
School of Mechanical and Aerospace Engineering
This paper addresses the application of Model Predictive Control (MPC) approach for formation flight control and coordination of autonomous unmanned aerial vehicles. The Nominal Decentralized Model Predictive Control (NDMPC) is presented and its enhancement to deal with the model uncertainty and disturbances, called the Robust Decentralized Model Predictive Control (RDMPC), is also proposed and analyzed. Obstacle avoidance control scheme for any shape and size of obstacles is addressed under the unified MPC framework. The simulation results show that this MPC scheme can successfully achieve collision-free formation flights.
DRNTU::Engineering::Aeronautical engineering::Flight simulation
© 2010 by Weihua Zhao and Tiauw Hiong Go. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. This is the author created version of a work that has been peer reviewed and accepted for publication by 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, the American Institute of Aeronautics and Astronautics. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [http://dx.doi.org/10.2514/6.2010-493].