Design of a Multi-Constraint Formation Controller Based on Improved MPC and Consensus for Quadrotors

Yan, Danghui; Zhang, Weiguo; Chen, Hang

doi:10.3390/aerospace9020094

Cited by 15 publications

(7 citation statements)

References 31 publications

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“…Moreover, considering linear control techniques are widely used for UAV flight control [28,30,31,34,39], as they can ensure optimal performance when operating close to the equilibrium point [40,41], a linearization of the model under the following assumptions is carried out:…”

Section: Kinematicsmentioning

confidence: 99%

Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles

Borbolla-Burillo,

Sotelo,

Frye

et al. 2024

Mathematics

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Modeling and control are challenging in unmanned aerial vehicles, especially in quadrotors where there exists high coupling between the position and the orientation dynamics. In simulations, conventional control strategies such as the use of a proportional–integral–derivative (PID) controller under different configurations are typically employed due to their simplicity and ease of design. However, linear assumptions have to be made, which turns into poor performance for practical applications on unmanned aerial vehicles (UAVs). This paper designs and implements a hierarchical cascaded model predictive control (MPC) for three-dimensional trajectory tracking using a quadrotor platform. The overall system consists of two stages: the mission server and the commander stabilizer. Different from existing works, the heavy computational burden is managed by decomposing the overall MPC strategy into two different schemes. The first scheme controls the translational displacements while the second scheme regulates the rotational movements of the quadrotor. For validation, the performance of the proposed controller is compared against that of a proportional–integral–velocity (PIV) controller taken from the literature. Here, real-world experiments for tracking helicoidal and lemniscate trajectories are implemented, while for regulation, an extreme wind disturbance is applied. The experimental results show that the proposed controller outperforms the PIV controller, presenting less signal effort fluctuations, especially in terms of rejecting external wind disturbances.

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Section: Kinematicsmentioning

confidence: 99%

Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles

Borbolla-Burillo,

Sotelo,

Frye

et al. 2024

Mathematics

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“…Formation control of collaborative systems has been researched extensively in the literature. Typical approaches for formation control can be categorized as behavioral (Alfeo et al, 2019), leader–follower (Gong et al, 2022; Liu et al, 2022; Rosa, 2020), virtual structure (Zhou et al, 2018), and graph theory (Yan et al, 2022; Yuhang et al, 2022) based approaches. Behavioral approach requires that every action of UAV should correspond to every expected behavior of UAV, and it is defined by the weighted average of behaviors.…”

Section: Introductionmentioning

confidence: 99%

Consensus-based distributed formation control for coordinated battle system of manned/unmanned aerial vehicles

Cao

2023

Transactions of the Institute of Measurement and Control

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In this paper, a consensus-based distributed formation control method is proposed for improving the coordinated battle efficiency of coordinated battle system for manned/unmanned aerial vehicles (MAV/UAVs). The method proposed is designed based on consensus protocol, which contains three parts. First, the distributed structure with limited centralized strategy for MAV/UAVs cooperative system is designed. Second, a second-order dynamic model is built up to describe the distributed formation system, which is further simplified using feedback linearization method. Third, the information exchange topology of MAV/UAV-coordinated battle system is established on the basis of graph theory and leader–follower mechanism. Finally, the effectiveness of the proposed formation strategy for MAV/UAVs cooperative system is proved asymptotic convergence by constructing a reasonable Lyapunov function which guarantees the accurate formation maintenance. Simulation results are presented to demonstrate the effectiveness of the proposed method. And comparative simulation results reveal that the method proposed in this paper is superior to traditional algorithms in the aspects of accuracy and stability.

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“…Multi-quadrotor suspension systems operating in coordinated formations offer several advantages, including enhanced mission efficiency, extended operational reach, and the capacity to establish networks for task execution [27]. Various formation control methods govern these systems, each with its unique strengths and approaches.…”

Section: Introductionmentioning

confidence: 99%

Coordinated Control of Quadrotor Suspension Systems Based on Consistency Theory

Chen,

Fan,

Wang

et al. 2023

Aerospace

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This paper designs a cooperative control method for the multi-quadrotor suspension system based on consistency theory and realizes the cooperative formation trajectory tracking control of the multi-quadrotor suspension system by designing a consistent formation cooperative algorithm of virtual piloting and a nonlinear controller. First, a new quadrotor suspension system model is established based on the traditional quadrotor model using the Newton–Euler method. This model can accurately reflect the influence of the load on the quadrotor while obtaining the swing of the load. Then, the vertical and horizontal positions are designed separately based on the quadrotor motion characteristics, and the formation algorithm based on the virtual pilot consistency theory ensures that the final convergence of each position is consistent. An integral backstepping controller and an integral backstepping sliding mode controller are designed for quadrotor position, attitude, and load swing control to achieve accurate and fast quadrotor trajectory tracking control while reducing load swing. The stability of all the controllers is demonstrated using Lyapunov functions. Finally, a multi-quadrotor suspension system formation cooperative simulation experiment is designed to verify the designed control method.

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Design of a Multi-Constraint Formation Controller Based on Improved MPC and Consensus for Quadrotors

Cited by 15 publications

References 31 publications

Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles

Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles

Consensus-based distributed formation control for coordinated battle system of manned/unmanned aerial vehicles

Coordinated Control of Quadrotor Suspension Systems Based on Consistency Theory

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