Show simple item record

dc.contributor.authorZhao, Weihua
dc.contributor.authorGo, Tiauw Hiong
dc.date.accessioned2016-01-25T22:30:41Z
dc.date.available2016-01-25T22:30:41Z
dc.date.issued2011
dc.identifier.citationWeihua, Z., & Go, T. H. (2011). Robust decentralized formation flight control. International Journal of Aerospace Engineering, 2011.en_US
dc.identifier.urihttp://hdl.handle.net/11141/792
dc.description.abstractMotivated by the idea of multiplexed model predictive control (MMPC), this paper introduces a new framework for unmanned aerial vehicles (UAVs) formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.en_US
dc.language.isoen_USen_US
dc.rightsThis is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.en_US
dc.rights.urittps://creativecommons.org/licenses/by/3.0/us/en_US
dc.titleRobust decentralized formation flight controlen_US
dc.typeArticleen_US
dc.identifier.doi10.1155/2011/157590


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Except where otherwise noted, this item's license is described as This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.