Distributed Nonlinear Predictive Control for Unmanned Air-Ground Vehicles

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI:10.1016/j.ifacol.2024.10.139

Alessandra Elisa Sindi Morando , Alessandro Bozzi , Simone Graffione , Roberto Sacile , Enrico Zero

引用次数: 0

Abstract

This paper addresses the formation path tracking for a heterogeneous system made up of a steering car and a quadcopter. System modelling is based on Nonlinear Model Predictive Control (NMPC), which is a proper solution when considering a heterogeneous feet as not only it deals with non-linearities of the dynamic model but it is also a way to generate trajectories that can be communicated to other agents. Moreover, an Extended Kalman Filter (EKF) is employed to estimate the non-measurable ground robot state variables. Two separate simulations in Simulink for each agent have been carried out leading to promising results in terms of tracking errors. Indeed, tests show that the proposed solution allows the two vehicles to follow the reference aligned with a deviation of a few centimeters.

查看原文本刊更多论文

无人驾驶空地飞行器的分布式非线性预测控制

本文探讨了由转向车和四旋翼飞行器组成的异构系统的编队路径跟踪问题。系统建模以非线性模型预测控制（NMPC）为基础，在考虑异构脚时，NMPC 是一种合适的解决方案，因为它不仅能处理动态模型的非线性问题，还能生成可传递给其他代理的轨迹。此外，还采用了扩展卡尔曼滤波器（EKF）来估计不可测量的地面机器人状态变量。我们在 Simulink 中对每个代理进行了两次单独模拟，结果显示跟踪误差很有希望。事实上，测试表明，所提出的解决方案可使两辆车在偏差几厘米的情况下跟踪对齐的参考点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

期刊介绍： All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.