eprintid: 743
rev_number: 15
eprint_status: archive
userid: 7
dir: disk0/00/00/07/43
datestamp: 2011-07-29 10:53:29
lastmod: 2012-07-09 09:25:27
status_changed: 2012-07-09 09:25:27
type: book_section
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: Rocchi, Claudio
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: Decentralized hybrid model predictive control of a formation of unmanned aerial vehicles
ispublished: pub
subjects: QA75
subjects: TL
divisions: CSA
full_text_status: none
pres_type: paper
keywords: Aerospace applications; Decentralized control; Control design for hybrid systems
abstract: 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.
date: 2011
date_type: published
volume: 18
publisher: IFAC
pagerange: 11900-11906
event_title: 18th IFAC World Congress
event_location: Milano, Italy
event_dates: August 28 - September 2, 2011
event_type: conference
id_number: 10.3182/20110828-6-IT-1002.00942
refereed: TRUE
isbn: 978-3-902661-93-7
book_title: Proceedings of the 18th IFAC World Congress, 2011
official_url: http://www.ifac-papersonline.net/Detailed/51381.html
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
citation:   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)