Nonlinear Model Predictive Formation Control for Quadcopters*. Issue 19 (2015)

• Record Type: Journal Article
• Authors: Ribeiro, Tiago T.; Conceição, André G.S.; Sa, Inkyu; Corke, Peter
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 19(2015)
• Page Start: 39
• Page End: 44
• Publication Date: 2015
• Subjects: Unmanned Aerial Vehicle -- Nonlinear Model Predictive Control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.12.007
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This 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.