Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/482864
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dc.contributor.authorShin, Jen_US
dc.contributor.authorKim, H Jen_US
dc.date.accessioned2020-05-20T04:02:25Z-
dc.date.available2020-05-20T04:02:25Z-
dc.date.issued2009en_US
dc.identifier.issn1083-4427en_US
dc.identifier.otherDoi 10.1109/Tsmca.2009.2021935en_US
dc.identifier.uri<Go to ISI>://WOS:000269155600015\nhttp://ieeexplore.ieee.org/ielx5/3468/5208652/05109714.pdf?tp=&arnumber=5109714&isnumber=5208652en_US
dc.identifier.urihttp://localhost/handle/Hannan/322055en_US
dc.identifier.urihttp://localhost/handle/Hannan/482864-
dc.description.abstractThis 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.en_US
dc.publisherIeeeen_US
dc.relation.haspartAL1544845.pdfen_US
dc.subjectcentralized methoden_US
dc.subjectdecentralized methoden_US
dc.subjectextended kalman filter (ekf)en_US
dc.subjectformation flighten_US
dc.subjectframeworken_US
dc.subjectguidanceen_US
dc.subjectkarush-kuhn-tucker (kkt) conditionen_US
dc.subjectlawsen_US
dc.subjectnonlinear model predictive control (nmpc)en_US
dc.subjectreceding-horizon controlen_US
dc.subjectstabilityen_US
dc.subjectsystemsen_US
dc.subjecttrajectory generationen_US
dc.subjectunmen_US
dc.titleNonlinear Model Predictive Formation Flighten_US
dc.typeArticleen_US
dc.journal.titleIeee Transactions on Systems Man and Cybernetics Part a-Systems and Humansen_US
Appears in Collections:2009

Files in This Item:
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AL1544845.pdf441.43 kBAdobe PDF
Full metadata record
DC FieldValueLanguage
dc.contributor.authorShin, Jen_US
dc.contributor.authorKim, H Jen_US
dc.date.accessioned2020-05-20T04:02:25Z-
dc.date.available2020-05-20T04:02:25Z-
dc.date.issued2009en_US
dc.identifier.issn1083-4427en_US
dc.identifier.otherDoi 10.1109/Tsmca.2009.2021935en_US
dc.identifier.uri<Go to ISI>://WOS:000269155600015\nhttp://ieeexplore.ieee.org/ielx5/3468/5208652/05109714.pdf?tp=&arnumber=5109714&isnumber=5208652en_US
dc.identifier.urihttp://localhost/handle/Hannan/322055en_US
dc.identifier.urihttp://localhost/handle/Hannan/482864-
dc.description.abstractThis 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.en_US
dc.publisherIeeeen_US
dc.relation.haspartAL1544845.pdfen_US
dc.subjectcentralized methoden_US
dc.subjectdecentralized methoden_US
dc.subjectextended kalman filter (ekf)en_US
dc.subjectformation flighten_US
dc.subjectframeworken_US
dc.subjectguidanceen_US
dc.subjectkarush-kuhn-tucker (kkt) conditionen_US
dc.subjectlawsen_US
dc.subjectnonlinear model predictive control (nmpc)en_US
dc.subjectreceding-horizon controlen_US
dc.subjectstabilityen_US
dc.subjectsystemsen_US
dc.subjecttrajectory generationen_US
dc.subjectunmen_US
dc.titleNonlinear Model Predictive Formation Flighten_US
dc.typeArticleen_US
dc.journal.titleIeee Transactions on Systems Man and Cybernetics Part a-Systems and Humansen_US
Appears in Collections:2009

Files in This Item:
File SizeFormat 
AL1544845.pdf441.43 kBAdobe PDF
Full metadata record
DC FieldValueLanguage
dc.contributor.authorShin, Jen_US
dc.contributor.authorKim, H Jen_US
dc.date.accessioned2020-05-20T04:02:25Z-
dc.date.available2020-05-20T04:02:25Z-
dc.date.issued2009en_US
dc.identifier.issn1083-4427en_US
dc.identifier.otherDoi 10.1109/Tsmca.2009.2021935en_US
dc.identifier.uri<Go to ISI>://WOS:000269155600015\nhttp://ieeexplore.ieee.org/ielx5/3468/5208652/05109714.pdf?tp=&arnumber=5109714&isnumber=5208652en_US
dc.identifier.urihttp://localhost/handle/Hannan/322055en_US
dc.identifier.urihttp://localhost/handle/Hannan/482864-
dc.description.abstractThis 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.en_US
dc.publisherIeeeen_US
dc.relation.haspartAL1544845.pdfen_US
dc.subjectcentralized methoden_US
dc.subjectdecentralized methoden_US
dc.subjectextended kalman filter (ekf)en_US
dc.subjectformation flighten_US
dc.subjectframeworken_US
dc.subjectguidanceen_US
dc.subjectkarush-kuhn-tucker (kkt) conditionen_US
dc.subjectlawsen_US
dc.subjectnonlinear model predictive control (nmpc)en_US
dc.subjectreceding-horizon controlen_US
dc.subjectstabilityen_US
dc.subjectsystemsen_US
dc.subjecttrajectory generationen_US
dc.subjectunmen_US
dc.titleNonlinear Model Predictive Formation Flighten_US
dc.typeArticleen_US
dc.journal.titleIeee Transactions on Systems Man and Cybernetics Part a-Systems and Humansen_US
Appears in Collections:2009

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