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Distributed Model Predictive Control for Unmanned Aerial Vehicles
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-7631-002X
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
Number of Authors: 3
2015 (English)In: 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems: RED-UAS 2015, Cancun, Mexico, 23 - 25 November 2015, Picataway, NJ: IEEE Communications Society, 2015, p. 152-161, article id 7441002Conference paper, Published paper (Refereed)
Abstract [en]

In this article a distributed model pre- dictive control scheme, for the cooperative motion control of Unmanned Aerial Vehicles (UAVs) is be- ing presented. The UAVs are modeled by a 6-DOF nonlinear kinematic model. Two different control ar- chitectures: a centralized and a distributed MPC, are studied and evaluated in simulation experiments. In the centralized approach, one central MPC controller is responsible for the movement coordination of all the UAVs, while in the distributed approach each aerial vehicle plans only for its own actions, while the objective function is coupled with the behavior of the rest of the team members and the constraints are decoupled. In this approach, each agent only shares the future position of itself with the other agents to avoid collisions. For reducing the computation time and complexity, only one step ahead prediction in the corresponding MPC schemes have been considered without a loss of generality. Finally, the efficiency of the overall suggested decentralized MPC scheme, as well as it comparison with the centralized approach, is being evaluated through the utilization of multiple simulation scenarios.

Place, publisher, year, edition, pages
Picataway, NJ: IEEE Communications Society, 2015. p. 152-161, article id 7441002
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-27817DOI: 10.1109/RED-UAS.2015.7441002ISI: 000380483900019Local ID: 15eb7a71-2dcd-4d05-8572-fc78100e897aISBN: 9781509017843 (electronic)OAI: oai:DiVA.org:ltu-27817DiVA: diva2:1001008
Conference
Workshop on Research, Education and Development of Unmanned Aerial Systems : 23/11/2015 - 25/11/2015
Note

Validerad; 2016; Nivå 1; 2016-10-11 (andbra)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-18Bibliographically approved

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Mansouri, Sina SharifNikolakopoulos, GeorgeGustafsson, Thomas
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