relation: http://eprints.imtlucca.it/1254/
title: Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles
creator: Bemporad, Alberto
creator: Rocchi, Claudio
subject: QA75 Electronic computers. Computer science
subject: TL Motor vehicles. Aeronautics. Astronautics
description: This paper proposes a hierarchical MPC approach to stabilization and autonomous navigation of a formation of unmanned aerial vehicles (UAVs), under constraints on motor thrusts, angles and positions, and under collision avoidance constraints. Each vehicle is of quadcopter type and is stabilized by a local linear time-invariant (LTI) MPC controller at the lower level of the control hierarchy around commanded desired set-points. These are generated at the higher level and at a slower sampling rate by a linear time-varying (LTV) MPC controller per vehicle, based on an a simplified dynamical model of the stabilized UAV and a novel algorithm for convex under-approximation of the feasible space. Formation flying is obtained by running the above decentralized scheme in accordance with a leader-follower approach. The performance of the hierarchical control scheme is assessed through simulations, and compared to previous work in which a hybrid MPC scheme is used for planning paths on-line.
publisher: IEEE
date: 2011-12
type: Book Section
type: PeerReviewed
identifier:   Bemporad, Alberto and Rocchi, Claudio  Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles.   In:  Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC).   IEEE, 7488 -7493.  ISBN 978-1-61284-800-6      (2011)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6160521&isnumber=6159299
relation: 10.1109/CDC.2011.6160521