Quadcopter formation flight control combining MPC and robust feedback linearization

DOI10.1016/j.jfranklin.2013.10.021zbMath1395.93031OpenAlexW2038051530MaRDI QIDQ1659407

Tiauw Hiong Go, Weihua Zhao

Publication date: 15 August 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2013.10.021

zbMATH Keywords

quadcopterleader-followerformation flight controlrobust feedback linearization

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Sampled-data control/observation systems (93C57) Adaptive or robust stabilization (93D21)

Related Items (15)

Formation control for uncertain multiple robots by adaptive integral sliding mode ⋮ Distributed adaptive time-varying formation for multi-agent systems with general high-order linear time-invariant dynamics ⋮ Fixed-time consensus protocols for multi-agent systems with linear and nonlinear state measurements ⋮ Formation-containment control for high-order linear time-invariant multi-agent systems with time delays ⋮ Additive-state-decomposition-based model predictive tracking control for PMSM servo system with multiple disturbances ⋮ Flat trajectory design and tracking with saturation guarantees: a nano-drone application ⋮ Switching topology approach for UAV formation based on binary-tree network ⋮ Event-based formation control of multiple quadrotors on \(\mathrm{SO}(3)\) ⋮ Low level formation controls for a group of quadrotors with model uncertainties ⋮ Decentrailized formation flight control of quadcopters using robust feedback linearization ⋮ Task-space coordination control of bilateral human-swarm systems ⋮ Nash bargaining solution based rendezvous guidance of unmanned aerial vehicles ⋮ Robust structural feedback linearization based on the nonlinearities rejection ⋮ Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle ⋮ Adaptive distributed tracking control for non-affine multi-agent systems with state constraints and dead-zone input

Uses Software

• CVX
• YALMIP

Cites Work

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• Nonlinear adaptive close formation control of unmanned aerial vehicles
• Multi-vehicle coordination for double-integrator dynamics under fixed undirected/directed interaction in a sampled-data setting
• Min-max feedback model predictive control for constrained linear systems
• Systems with persistent disturbances: Predictive control with restricted constraints

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