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Erschienen in:
Complexity Certifications of First-Order Inexact Lagrangian Methods for General Convex Programming: Application to Real-Time MPC Kapitel lesen Erstes Kapitel lesen

2015 | OriginalPaper | Buchkapitel

7. A Model Predictive Control-Based Architecture for Cooperative Path-Following of Multiple Unmanned Aerial Vehicles

verfasst von : Alessandro Rucco, António Pedro Aguiar, Fernando A. C. C. Fontes, Fernando Lobo Pereira, João Borges de Sousa

Erschienen in: Developments in Model-Based Optimization and Control

Verlag: Springer International Publishing

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Abstract

This chapter proposes a sampled-data model predictive control (MPC) architecture to solve the decentralized cooperative path-following (CPF) problem of multiple unmanned aerial vehicles (UAVs). In the cooperative path-following proposed scenario, which builds on previous work on CPF, multiple vehicles are required to follow pre-specified paths at nominal speed profiles (that may be path dependent) while keeping a desired, possibly time-varying, geometric formation pattern. In the proposed framework, we exploit the potential of optimization-based control strategies with significant advantages on explicitly addressing input and state constraints and on the ability to allow the minimization of meaningful cost functions. An example consisting of three fixed wing UAVs that are required to follow a given desired maneuver illustrates the proposed framework. We highlight and discuss some features of the UAVs trajectories.

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Vorheriges Kapitel Evolutionary Game-Based Dynamical Tuning for Multi-objective Model Predictive Control
Nächstes Kapitel Predictive Control for Path-Following. From Trajectory Generation to the Parametrization of the Discrete Tracking Sequences
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Metadaten
Titel
A Model Predictive Control-Based Architecture for Cooperative Path-Following of Multiple Unmanned Aerial Vehicles
verfasst von
Alessandro Rucco
António Pedro Aguiar
Fernando A. C. C. Fontes
Fernando Lobo Pereira
João Borges de Sousa
Copyright-Jahr
2015
Buch
Developments in Model-Based Optimization and Control

Print ISBN: 978-3-319-26685-5

Electronic ISBN: 978-3-319-26687-9

Copyright-Jahr: 2015

DOI
https://doi.org/10.1007/978-3-319-26687-9_7

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