2023/04/03 by Dženan Lapandić, Lapandić, Dženan, Christos K. Verginis +5
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2304.01045
openalex publication_date 2023/04/03 · openalex created_date 2023/04/06 · openalex updated_date 2026/07/28
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm is executing DMPC with exchange of trajectories between the agents at a sufficient rate. In the case of loss of communication, and given the sensor setup, agents are predicting the trajectories of other agents based on the available measurements and prior information. The predictions are then used as the reference inputs to DMPC. During the landing, the followers are tasked with avoidance of USV-dependent obstacles and inter-agent collisions. In the proposed distributed algorithm, all agents solve their local optimization problem in parallel and we prove the convergence of the proposed algorithm. Finally, the simulation results support the theoretical findings.