Aperiodic Communication for MPC in Autonomous Cooperative Landing⁎This work was supported by the Wallenberg AI, Autonomous Systems and Software Program (WASP) and the Swedish Research Council, Knut and Alice Wallenberg Foundation (KAW). Issue 6 (2021)

• Record Type: Journal Article
• Authors: Lapandić, Dženan; Persson, Linnea; Dimarogonas, Dimos V.; Wahlberg, Bo
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 6(2021)
• Page Start: 113
• Page End: 118
• Publication Date: 2021
• Subjects: Autonomous cooperative landing -- Nonlinear predictive control -- Model predictive -- optimization-based control -- Distributed nonlinear control -- UAVs -- Tracking; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.08.532
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled but share a common cooperative rendezvous task. The underlying control scheme is based on distributed Model Predictive Control (MPC). The main contribution is a rendezvous algorithm with an online update rule of the rendezvous location. The algorithm only requires the agents to exchange information when they can not guarantee to rendezvous. Hence, the exchange of information occurs aperiodically, which reduces the necessary communication between the agents. Furthermore, we prove that the algorithm guarantees recursive feasibility. The simulation results illustrate the effectiveness of the proposed algorithm applied to the problem of autonomous cooperative landing.