Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/482864
Title: Nonlinear Model Predictive Formation Flight
Authors: Shin, J;Kim, H J
subject: centralized method;decentralized method;extended kalman filter (ekf);formation flight;framework;guidance;karush-kuhn-tucker (kkt) condition;laws;nonlinear model predictive control (nmpc);receding-horizon control;stability;systems;trajectory generation;unm
Year: 2009
Publisher: Ieee
Abstract: This correspondence paper presents the validation of a formation-flight control technique with obstacle avoidance capability based on nonlinear model predictive algorithms. Control architectures for multiagent systems employed in this correspondence paper can be categorized as centralized, sequential-decentralized, and fully decentralized methods. Centralized methods generally have better performance than decentralized methods. However, it is well known that the performance of the centralized methods for formation flight degrades when there exists communication failure among the vehicles, and they require more computation time than the decentralized method. This correspondence paper evaluates the control performance and the computation time reduction of the sequential-decentralized and fully decentralized methods in comparison with the centralized method and shows that the fully decentralized method can be made effective against short-term communication failure. The control inputs for formation flight are computed by nonlinear model predictive control (NMPC). The control input saturation and state constraints are incorporated as inequality constraints using Karush-Kuhn-Tucker conditions in the NMPC framework, and the collision avoidance can be considered in real time. The proposed schemes are validated by numerical simulations, which include the process and measurement noise for more realistic situations.
URI: <Go to ISI>://WOS:000269155600015\nhttp://ieeexplore.ieee.org/ielx5/3468/5208652/05109714.pdf?tp=&arnumber=5109714&isnumber=5208652
http://localhost/handle/Hannan/322055
http://localhost/handle/Hannan/482864
ISSN: 1083-4427
Appears in Collections:2009

Files in This Item:
File SizeFormat 
AL1544845.pdf441.43 kBAdobe PDF
Title: Nonlinear Model Predictive Formation Flight
Authors: Shin, J;Kim, H J
subject: centralized method;decentralized method;extended kalman filter (ekf);formation flight;framework;guidance;karush-kuhn-tucker (kkt) condition;laws;nonlinear model predictive control (nmpc);receding-horizon control;stability;systems;trajectory generation;unm
Year: 2009
Publisher: Ieee
Abstract: This correspondence paper presents the validation of a formation-flight control technique with obstacle avoidance capability based on nonlinear model predictive algorithms. Control architectures for multiagent systems employed in this correspondence paper can be categorized as centralized, sequential-decentralized, and fully decentralized methods. Centralized methods generally have better performance than decentralized methods. However, it is well known that the performance of the centralized methods for formation flight degrades when there exists communication failure among the vehicles, and they require more computation time than the decentralized method. This correspondence paper evaluates the control performance and the computation time reduction of the sequential-decentralized and fully decentralized methods in comparison with the centralized method and shows that the fully decentralized method can be made effective against short-term communication failure. The control inputs for formation flight are computed by nonlinear model predictive control (NMPC). The control input saturation and state constraints are incorporated as inequality constraints using Karush-Kuhn-Tucker conditions in the NMPC framework, and the collision avoidance can be considered in real time. The proposed schemes are validated by numerical simulations, which include the process and measurement noise for more realistic situations.
URI: <Go to ISI>://WOS:000269155600015\nhttp://ieeexplore.ieee.org/ielx5/3468/5208652/05109714.pdf?tp=&arnumber=5109714&isnumber=5208652
http://localhost/handle/Hannan/322055
http://localhost/handle/Hannan/482864
ISSN: 1083-4427
Appears in Collections:2009

Files in This Item:
File SizeFormat 
AL1544845.pdf441.43 kBAdobe PDF
Title: Nonlinear Model Predictive Formation Flight
Authors: Shin, J;Kim, H J
subject: centralized method;decentralized method;extended kalman filter (ekf);formation flight;framework;guidance;karush-kuhn-tucker (kkt) condition;laws;nonlinear model predictive control (nmpc);receding-horizon control;stability;systems;trajectory generation;unm
Year: 2009
Publisher: Ieee
Abstract: This correspondence paper presents the validation of a formation-flight control technique with obstacle avoidance capability based on nonlinear model predictive algorithms. Control architectures for multiagent systems employed in this correspondence paper can be categorized as centralized, sequential-decentralized, and fully decentralized methods. Centralized methods generally have better performance than decentralized methods. However, it is well known that the performance of the centralized methods for formation flight degrades when there exists communication failure among the vehicles, and they require more computation time than the decentralized method. This correspondence paper evaluates the control performance and the computation time reduction of the sequential-decentralized and fully decentralized methods in comparison with the centralized method and shows that the fully decentralized method can be made effective against short-term communication failure. The control inputs for formation flight are computed by nonlinear model predictive control (NMPC). The control input saturation and state constraints are incorporated as inequality constraints using Karush-Kuhn-Tucker conditions in the NMPC framework, and the collision avoidance can be considered in real time. The proposed schemes are validated by numerical simulations, which include the process and measurement noise for more realistic situations.
URI: <Go to ISI>://WOS:000269155600015\nhttp://ieeexplore.ieee.org/ielx5/3468/5208652/05109714.pdf?tp=&arnumber=5109714&isnumber=5208652
http://localhost/handle/Hannan/322055
http://localhost/handle/Hannan/482864
ISSN: 1083-4427
Appears in Collections:2009

Files in This Item:
File SizeFormat 
AL1544845.pdf441.43 kBAdobe PDF