In this paper, an algorithm design and a simulation research on the optimization problem in the proposed distributed model predictive control framework for UAVs are accomplished. Firstly, the distributed model predictive control method is used to realize different formation maintenance. Then, a collision avoidance control method is added to the distributed model predictive control framework to realize stable formation of UAVs under static threat. Based on the real-time prediction of the dynamic obstacle’s states, the collision avoidance of multi-UAV formation under dynamic threat is finally achieved while maintaining the formation. Simulations show that the formation maintenance error is acceptable when the multi-UAV formation is maintained under static and dynamic threat.


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    Title :

    Distributed Formation Control for Multiple Unmanned Aerial Vehicles Under Dynamic Threat


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Zhao, Jiang (author) / Xin, Li (author) / Wang, Yingxun (author) / Zhihao, Cai (author)


    Publication date :

    2021-10-30


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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