3-D Formulation of Formation Flight Based on Model Predictive Control with Collision Avoidance Scheme

• Main Authors: Zhao, Weihua., Go, Tiauw Hiong.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Aeronautical engineering::Flight simulation
• Online Access: https://hdl.handle.net/10356/94116; http://hdl.handle.net/10220/7232
• Institution: Nanyang Technological University

This paper addresses the application of Model Predictive Control (MPC) approach for formation flight control and coordination of autonomous unmanned aerial vehicles. The Nominal Decentralized Model Predictive Control (NDMPC) is presented and its enhancement to deal with the model uncertainty and dis...