eprintid: 1254
rev_number: 7
eprint_status: archive
userid: 6
dir: disk0/00/00/12/54
datestamp: 2012-04-04 08:41:10
lastmod: 2012-04-04 08:41:10
status_changed: 2012-04-04 08:41:10
type: book_section
metadata_visibility: show
creators_name: Bemporad, Alberto
creators_name: Rocchi, Claudio
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles
ispublished: pub
subjects: QA75
subjects: TL
divisions: CSA
full_text_status: none
keywords: autonomous aerial vehicles , collision avoidance , decentralised control, linear systems, motion control, predictive control, sampling methods, stability, time-varying systems 
note: This work was partially supported by the European Space Agency through project “ROBMPC – Robust Model Predictive Control for Space Constrained Systems"
abstract: 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.
date: 2011-12
date_type: published
publisher: IEEE
pagerange: 7488 -7493
event_title: Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
id_number: 10.1109/CDC.2011.6160521
refereed: TRUE
isbn: 978-1-61284-800-6
book_title: Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6160521&isnumber=6159299
citation:   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)