Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Formation Flight Control of Unmanned Aerial Vehicles Using Model Predictive Control

모델 예측 기법 기반 무인 항공기의 편대 비행 제어 알고리즘

  • 박재만 (서울대학교 기계항공공학부 항공우주신기술연구소) ;
  • 신종호 (서울대학교 기계항공공학부 항공우주신기술연구소) ;
  • 김현진 (서울대학교 기계항공공학부 항공우주신기술연구소)
  • Published : 2008.12.01
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Abstract

This paper studies the feasibility of using the nonlinear model predictive control as a formation flight control algorithm for unmanned aerial vehicles. The optimal control inputs for formation flight are calculated through the cost function which incorporates the relative positions of the individual vehicles to maintain a desired formation and also the inequality constraints on inputs and states using the Karush-Kuhn-Tucker conditions. In the nonlinear model predictive control setting, the optimal control inputs are implemented in a receding horizon manner, which is suitable for dealing with dynamic constraints. Numerical simulations are executed for the validation of the proposed scheme.

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References

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