文章基本信息

标题：Nonlinear Model Predictive Formation Control for Quadcopters *
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作者：Tiago T. Ribeiro ; André G.S. Conceição ; Inkyu Sa 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：19
页码：39-44
DOI：10.1016/j.ifacol.2015.12.007
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a Nonlinear Model Predictive Formation Control for a group of Quadcopters. In this approach the controllers are distributed to the quadcopters and the coupling is done through its objective function. The path following problem is expressed through a dynamic model of the quadcopter’s state errors relative to a Serret-Frenet frame, and the coordination problem is solved through adjustments in the robots’ speeds combined with the path update rate for each robot. A strategy based on constraints relaxing is proposed to solve the problem of high state and formation errors, factors that directly affect feasibility and stability. Simulation results considering a realistic scenario are provided to demonstrate the performance of the proposed control strategy.
关键词：KeywordsUnmanned Aerial VehicleNonlinear Model Predictive Control