Receding horizon control for multi-UAVs close formation control based on differential evolution

Abstract

Close formation flight is one of the most complicated problems on multi-uninhabited aerial vehicles (UAVs) coordinated control. Based on the nonlinear model of multi-UAVs close formation, a novel type of control strategy of using hybrid receding horizon control (RHC) and differential evolution algorithm is proposed. The issue of multi-UAVs close formation is transformed into several on-line optimization problems at a series of receding horizons, while the differential evolution algorithm is adopted to optimize control sequences at each receding horizon. Then, based on the Markov chain model, the convergence of differential evolution is proved. The working process of RHC controller is presented in detail, and the stability of close formation controller is also analyzed. Finally, three simulation experiments are performed, and the simulation results show the feasibility and validity of our proposed control algorithm.

Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

“…In the formation driving, researchers take advantage of MPC mainly to respond to changes in dynamic environment [31], [32], [33], [12], [13]. In [31], authors introduce a new cost penalty in MPC optimization to guarantee a simple obstacle avoidance.…”

Evaluation methods for the autonomy of unmanned systems

“…Some common technologies and expertise technologies of unmanned autonomous systems have attracted researchers' wide attention, such as sensing technology [54,56], human-robot interaction technology [45], information communication technology [20], path planning technology [32,57,58], multi-platform collaboration technology [15,35,36,50,59,60], movement and motion-control technology [17,61,62], autonomy energy technology [39], mission planning technology [13,16,63], and autonomous flight-control technology [31,34,64,65]. Ref.…”

“…With the rapid growth of research on the autonomy control of unmanned systems in foreign countries, the autonomy control of unmanned systems has also attracted the attention of Chinese scholars. Research articles on the autonomy control level [21][22][23][24][25][26][27][28], autonomous control and autonomy-related technology [29][30][31][32][33][34][35][36], autonomy-related issues and other aspects [21,[37][38][39] have been published. Experts in China's academic community investigated the autonomy control levels of the UAV and presented their findings at the Second Russian-Chinese Seminar on Unmanned Aerial Vehicles in 2005 [21], and many articles on autonomous control and autonomy were published by Chinese scholars at the First Chinese Navigation, Guidance and Control Conference in 2007 [22], the 2009 China Automation Association Conference [31], the Fourth Chinese Navigation, Guidance and Control Conference in 2010 [28], and the 2010 World Congress on Intelligent Control and Automation [38], where some papers were even presented as invited talks [28,31].…”

Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

“…A survey on various classifications of formation control is given in [18]. Consensus based formation control strategies have also been investigated [19][20][21][22][23][24][25]. The role of Laplacian eigenvalues in determining formation stability is investigated in [19].…”

“…Formation control for a class of high-order linear multi-agent systems with time delays are studied in [22]. The applications of formation control in various areas could be found in [23][24][25]. It is worth noting that only linear dynamics are considered in the above results.…”