Formation Flight Control Using Model Predictive Approach

Abstract

A leader-follower formation flight control using Model Predictive Control (MPC) approach is investigated in this paper. In this formation control scheme, the changes in the leader motion are considered as measured disturbances and the commands to the wing aircraft are considered as manipulated variables. A cost function for the formation flight control problem is obtained and the input and output constraints are included. The control stability is established by adding a terminal state region to the optimization constraints. In the closed-loop system, commanded separation trajectories are asymptotically tracked by each wing aircraft while the lead aircraft is maneuvering. A sliding mode approach is incorporated in order to compensate the effects generated by the vortex of the adjacent lead aircraft. The applications of the controller to the formation flight of multiple aircrafts are then simulated. The results show that the MPC controller can successfully maintain the formation of the flight with only the leader is commanded by the Ground Control Station (GCS).