Abstract
This brief presents a novel model predictive control (MPC) algorithm to achieve formation tracking of networked multicopters (nodes) with sensor faults and physical constraints. The algorithm can be used to asymptotically form and maintain a user-defined three-dimensional pattern for the multicopters formation. Another concern lies on how to deal with the usual sensor faults caused by the failure of the Global Positioning System (GPS) or the Inertial Navigation System (INS), in the above-mentioned control process. To this end, we embed the residual generators and auxiliary variable observers into the algorithm for the detection and estimation of the multicopters faults. Multicopters only accept the information related to their neighbors for real-time online rolling optimization. By using the sum of local cost functions to construct a Lyapunov candidate, it is proved that the asymptotic stability of such a distributed MPC (DMPC) is guaranteed under the condition that the weight requirements are satisfied. Simulation results demonstrate the rationality and effectiveness of the proposed algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Circuits and Systems II: Express Briefs
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
