Adaptive model predictive control with extended state observer for multi‐UAV formation flight. (18th July 2020)

• Record Type: Journal Article
• Authors: Zhang, Boyang; Sun, Xiuxia; Liu, Shuguang; Deng, Xiongfeng
• Is Part Of: International journal of adaptive control and signal processing. Volume 34:Number 10(2020)
• Page Start: 1341
• Page End: 1358
• Publication Date: 2020-07-18
• Subjects: adaptive model predictive control -- disturbance rejection -- extended state observer -- multiple unmanned aerial vehicles -- trajectory tracking; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.3145
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: This article studies the adaptive model predictive control with extended state observers (ESO) to deal with multiple unmanned aerial vehicles formation flight in presence of external disturbances and system uncertainties. Specifically, to deal with the mismatch of predictive model caused by external disturbances and system uncertainties, ESOs are introduced to estimate the lumped disturbances, where the ultimately bounded property of observer system can be guaranteed by using the Lyapunov stability theorem. With these observations, the distributed adaptive model predictive controller is designed to achieve trajectory tracking and disturbance rejection simultaneously for multiple unmanned aerial vehicles, as well as taking the state and input saturation into account. Moreover, the stability of proposed model predictive controller is analyzed. Finally, the simulation examples are provided to illustrate the validity of the proposed control scheme.