Flight control of helicopter groups using nonlinear model predictive control

Authors:
M. Saffarian;F. Fahimi
Affiliations:
University of Alberta, Edmonton, Alberta, Canada;University of Alberta, Edmonton, Alberta, Canada
Venue:
CA '07 Proceedings of the Ninth IASTED International Conference on Control and Applications
Year:
2007

Citing 1
Cited 1

A continuation/GMRES method for fast computation of nonlinear receding horizon control

Automatica (Journal of IFAC)

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

Robotics and Autonomous Systems

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Abstract

In this paper, the problem of formation control of autonomous helicopters is tackled. For this purpose, two groups of geometrical formation parameters are defined based on a leader-follower approach. Two control schemes are defined based on these geometrical parameters, which are named l -- α and l -- l. These schemes control the position and heading of a follower helicopter with respect to either one or two neighbouring leaders, respectively. These two schemes can be used as building blocks of any predefined pattern of helicopter group. After testing each of these controllers individually, the two schemes are used to demonstrate the flight manoeuvre of a group of six helicopters that form a triangular formation.