Open AccessNonlinear Model Predictive Formation Control for Quadcopters**This work was supported by FAPESB, CNPq and CAPES.
Author(s) -
Tiago T. Ribeiro,
André G. S. Conceição,
Inkyu Sa,
Peter Corke
Publication year - 2015
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.308
H-Index - 72
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2015.12.007
Subject(s) - control theory (sociology) , quadcopter , model predictive control , nonlinear system , computer science , path (computing) , frame (networking) , state (computer science) , stability (learning theory) , frame work , control (management) , mathematical optimization , mathematics , engineering , algorithm , artificial intelligence , aerospace engineering , quantum mechanics , physics , programming language , machine learning , architectural engineering , telecommunications
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.
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