Robust formation control applying model predictive control to multi agent system by sharing disturbance information with UAVs
- Resource Type
- Conference
- Authors
- Akiyama, Kentaro; Sekiguchi, Kazuma; Nonaka, Kenichiro
- Source
- 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Society of Instrument and Control Engineers of Japan (SICE), 2016 55th Annual Conference of the. :627-632 Sep, 2016
- Subject
- Aerospace
Bioengineering
Components, Circuits, Devices and Systems
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Observers
Mathematical model
Robustness
Unmanned aerial vehicles
Predictive control
Modeling
Predictive models
UAV
Multi Agent System
Model Predictive Control
Disturbance Observer
- Language
A safety technology about unmanned aerial vehicles(UAVs) attracts a lot of attention. This paper presents a robust formation control method for multi agent system (MAS) to suppress the influence of disturbance and maintain the formation robustly by sharing the disturbance information. This paper estimates the disturbance by the disturbance observer. UAVs share these disturbance information using network of MAS. The inputs are calculated by model predictive control(MPC) that predicts the future motion of each UAV considering a shared disturbance information. UAVs share the disturbance information and the future motion of UAVs predicted by MPC using network of MAS. The proposed method achieves the robust formation control to consider these future information in MPC. This paper verifies the validity of proposed method via simulation.