Formation Control of Flying Robots Using Constrained Model Predictive Control While Tracking of Moving Target in Presence of Obstacles

Document Type : Dynamics, Vibrations, and Control

Authors

1 Ph.D. Student, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran

2 Corresponding author: Assistant Professor, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran

3 Associate Professor, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran

Abstract

In this article, using the constrained predictive controller, the tracking of a moving target by a group of flying robots while controlling the group arrangement is presented. The maintenance and control of the group arrangement is based on position control with the assumption of decentralized architecture and leader-follower communication structure between the agents. Target tracking is done by the group leader and the followers are responsible for tracking the group leader. The leader of the group constantly sends the current position and the estimate of his position in the next steps to the followers to use it to calculate the optimal current position and the next moments. In the following, rewriting the constraints of the problem, such as ensuring that the distance is maintained and that the followers do not collide with the group leader, and the limitations of inputs and their changes on all members of the group, as well as providing an innovative geometric method for crossing obstacles and systematically applying all of them in the control process. has been Simulations are presented for a group of five flying robots that seek to intercept a moving ground target while maintaining the formation of the group. The results show that the controller has a good resistance to the disturbances in the group's movement path and the group interception is carried out in a favorable way. Predicting the movement path of the moving target and using it in the design of the predictive controller also improves and smooths the movement path of the group.

Keywords

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References

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Aerospace Mechanics
Volume 18, Issue 4 - Serial Number 70
Serial No. 70, Winter Quarterly
December 2022
Pages 29-47

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History

  • Receive Date: 12 July 2022
  • Revise Date: 15 August 2022
  • Accept Date: 28 September 2022
  • Publish Date: 23 October 2022

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