Model Predictive Formation Control for UAV by Sharing Disturbance Information Considering Communication Delay among UAVs

DOI

Bibliographic Information

Other Title
  • UAVの通信遅れを考慮した外乱情報共有によるモデル予測隊列制御

Description

<p>This paper presents a model predictive formation control for multi agent system(MAS) considering the disturbance by sharing disturbance information with consideration of communication delay for unmanned aerial vehicles(UAVs). In this method, each UAV estimates the influence of disturbance by the disturbance observer respectively. This information and a state of UAV are shared to other UAVs by the network of MAS. Communication delay that occurs the state information of UAV is compensated. The input of each UAV is calculated by the model predictive control(MPC) using these shared information. MPC predicts the future motion of each UAV. The informations are also shared by the network of MAS. MPC calculates the inputs using the disturbance information and future states of other UAVs that is compensated communication delay. As the result, the proposed method achieves to suppress the influence of disturbance maintaining the formation. This paper verifies the validity of proposed method via numerical simulation.</p>

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Keywords

Details 詳細情報について

  • CRID
    1390282680625427968
  • NII Article ID
    130005312483
  • DOI
    10.11511/jacc.59.0_304
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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