DOI QR코드

DOI QR Code

Nonlinear Model Predictive Control for Multiple UAVs Formation Using Passive Sensing

  • 투고 : 2010.03.26
  • 심사 : 2011.03.16
  • 발행 : 2011.03.30

초록

In this paper, nonlinear model predictive control (NMPC) is addressed to develop formation guidance for multiple unmanned aerial vehicles. An NMPC algorithm predicts the behavior of a system over a receding time horizon, and the NMPC generates the optimal control commands for the horizon. The first input command is, then, applied to the system and this procedure repeats at each time step. The input constraint and state constraint for formation flight and inter-collision avoidance are considered in the proposed NMPC framework. The performance of NMPC for formation guidance critically degrades when there exists a communication failure. In order to address this problem, the modified optimal guidance law using only line-of-sight, relative distance, and own motion information is presented. If this information can be measured or estimated, the proposed formation guidance is sustainable with the communication failure. The performance of this approach is validated by numerical simulations.

키워드

참고문헌

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피인용 문헌

  1. Nonlinear Model Predictive Coordinated Standoff Tracking of a Moving Ground Vehicle vol.36, pp.2, 2013, https://doi.org/10.2514/1.56254
  2. Solving Multi-UAV Dynamic Encirclement via Model Predictive Control vol.23, pp.6, 2015, https://doi.org/10.1109/TCST.2015.2411632
  3. UAVs in Formation and Dynamic Encirclement via Model Predictive Control vol.47, pp.3, 2014, https://doi.org/10.3182/20140824-6-ZA-1003.00890
  4. Location and Direction Tracking of Small UAVs on Occlusion Area in Moving Surveillance System vol.10, pp.5, 2015, https://doi.org/10.14372/IEMEK.2015.10.5.317
  5. Monocular Vision-Based Guidance and Control for a Formation Flight vol.16, pp.4, 2015, https://doi.org/10.5139/IJASS.2015.16.4.581
  6. Nonlinear Model Predictive Formation Flight vol.39, pp.5, 2009, https://doi.org/10.1109/TSMCA.2009.2021935
  7. Explicit Model Following Distributed Control Scheme for Formation Flying of Mini UAVs vol.4, 2016, https://doi.org/10.1109/ACCESS.2016.2517203