Distributed Formation Flight Control of Multirotor Helicopters

This paper treats the problem of position formation flight control of a group of three multirotor aerial vehicles under obstacle and collision avoidance constraints. In order to solve the problem, a distributed architecture with model predictive controllers for each vehicle includes a set of convex...

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Vydané v:Journal of control, automation & electrical systems Ročník 28; číslo 4; s. 502 - 515
Hlavní autori: Viana, Ícaro Bezerra, Santos, Davi Antônio dos, Góes, Luiz Carlos Sandoval, Prado, Igor Afonso Acampora
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York Springer US 01.08.2017
Springer Nature B.V
Predmet:
Aircraft accidents
Architecture
Barriers
Collision avoidance
Collisions
Computer simulation
Control
Control and Systems Theory
Electrical Engineering
Engineering
Exchanging
Flight control
Helicopters
Mechatronics
Predictive control
Robotics
Robotics and Automation
Vehicles
Model predictive control
Obstacle avoidance
Mixed-integer quadratic programming
Collision avoidance
Unmanned aerial systems
ISSN:2195-3880, 2195-3899
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Popis
Shrnutí:This paper treats the problem of position formation flight control of a group of three multirotor aerial vehicles under obstacle and collision avoidance constraints. In order to solve the problem, a distributed architecture with model predictive controllers for each vehicle includes a set of convex constraints on the vehicles’s position to prevent collisions with other vehicles and obstacles. The resulting distributed scheme controls the formation based on a virtual structure approach where the computers of the architecture exchange position data through diagrams in Simulink. The performance of the method is assessed through simulations considering that the vehicles are subject to disturbance forces and the results show the effectiveness and the ability of the control architecture to handle the obstacle and collision avoidance constraints.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2195-3880
2195-3899
DOI:10.1007/s40313-017-0315-1