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Decentralized hybrid model predictive control of a formation of unmanned aerial vehicles

Bemporad, Alberto and Rocchi, Claudio Decentralized hybrid model predictive control of a formation of unmanned aerial vehicles. In: Proceedings of the 18th IFAC World Congress, 2011. IFAC, pp. 11900-11906. ISBN 978-3-902661-93-7 (2011)

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This paper proposes a hierarchical MPC strategy for autonomous navigation of a formation of unmanned aerial vehicles (UAVs) of quadcopter type under obstacle and collision avoidance constraints. Each vehicle is stabilized by a lower-level local linear MPC controller around a desired position, that is generated, at a slower sampling rate, by a hybrid MPC controller per vehicle. Such an upper control layer is based on a hybrid dynamical model of the UAV in closed-loop with its linear MPC controller and of its surrounding environment (i.e., the other UAVs and obstacles). The resulting decentralized scheme controls the formation based on a leader-follower approach. The performance of the hierarchical control scheme is assessed through simulations and comparisons with other path planning strategies, showing the ability of linear MPC to handle the strong couplings among the dynamical variables of each quadcopter under motor voltage and angle/position constraints, and the flexibility of the decentralized hybrid MPC scheme in planning the desired paths on-line.

Item Type: Book Section
Identification Number: 10.3182/20110828-6-IT-1002.00942
Funders: This work was partially supported by the European Commission under project “WIDE - Decentralized and Wireless Control of Large- Scale Systems”, contract number FP7-IST-224168
Uncontrolled Keywords: Aerospace applications; Decentralized control; Control design for hybrid systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 29 Jul 2011 10:53
Last Modified: 09 Jul 2012 09:25
URI: http://eprints.imtlucca.it/id/eprint/743

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