TY  - CHAP
N1  - This work was partially supported by the European Space Agency through project ?ROBMPC ? Robust Model Predictive Control for Space Constrained Systems"
ID  - eprints1254
T2  - Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
EP  - 7493
AV  - none
TI  - Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles
Y1  - 2011/12//
KW  - autonomous aerial vehicles 
KW  -  collision avoidance 
KW  -  decentralised control
KW  -  linear systems
KW  -  motion control
KW  -  predictive control
KW  -  sampling methods
KW  -  stability
KW  -  time-varying systems 
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6160521&isnumber=6159299
A1  - Bemporad, Alberto
A1  - Rocchi, Claudio
PB  - IEEE
SN  - 978-1-61284-800-6
SP  - 7488 
N2  - 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.
ER  -