无人驾驶空地飞行器的分布式非线性预测控制

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

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引用次数: 0

摘要

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。

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Distributed Nonlinear Predictive Control for Unmanned Air-Ground Vehicles

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.

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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