Non-Iterative nonlinear model predictive approach applied to the control of helicopters' group formation

Authors:
M. Saffarian;F. Fahimi
Affiliations:
Mechanical Engineering Department, University of Alberta, T6G 2G8, Canada;Mechanical Engineering Department, University of Alberta, T6G 2G8, Canada
Venue:
Robotics and Autonomous Systems
Year:
2009

Citing 11
Cited 3

GMRES: a generalized minimal residual algorithm for solving nonsymmetric linear systems

SIAM Journal on Scientific and Statistical Computing
Numerical continuation methods: an introduction

Numerical continuation methods: an introduction
Real-time optimization algorithm for nonlinear receding-horizon control

Automatica (Journal of IFAC)
Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics

Journal of Robotic Systems
Robotic Formation Control using Variable Structure Systems Approach

DIS '06 Proceedings of the IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications
Decentralized Control of Autonomous Swarm Systems Using Artificial Potential Functions: Analytical Design Guidelines

Journal of Intelligent and Robotic Systems
A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators

Autonomous Robots
Unmanned helicopter flight controller design by use of model predictive control

WSEAS TRANSACTIONS on SYSTEMS
Flight control of helicopter groups using nonlinear model predictive control

CA '07 Proceedings of the Ninth IASTED International Conference on Control and Applications
Chain based path formation in swarms of robots

ANTS'06 Proceedings of the 5th international conference on Ant Colony Optimization and Swarm Intelligence
A continuation/GMRES method for fast computation of nonlinear receding horizon control

Automatica (Journal of IFAC)

Piecewise constant model predictive control for autonomous helicopters

Robotics and Autonomous Systems
Waypoint tracking of unmanned aerial vehicles using robust H2 / H? controller

International Journal of Systems, Control and Communications
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Two geometrical formation schemes that allow the definition of any desired three-dimensional formation mesh for a group of helicopters are presented. Each formation scheme, which defines the leader-follower geometry of the formation mesh, has four parameters. These formation parameters are directly used as the output of decentralized controllers that independently control each helicopter in the group. The decentralized controllers are designed using a non-iterative Nonlinear Model Predictive Control (NMPC) method. The Continuation method is used for solving, in real-time, for future control actions that minimize a NMPC cost function. It is shown by analyzing the number of floating point operations per calculation cycle that the calculation load of the NMPC method for this application is quite manageable for today's industrial embedded computers. Simulations show that the formation schemes along with the NMPC controller can initialize and keep the formation of a group of helicopters even in the presence of bounded parameter uncertainty and environmental disturbance.