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 disturbances, called the Robust Decentralized Model Predictive Control (RDMPC), is also proposed and analyzed. Obstacle avoidance control scheme for any shape and size of obstacles is addressed under the unified MPC framework. The simulation results show that this MPC scheme can successfully achieve collision-free formation flights.