Robust cooperative Leader-follower formation flight control
Weihua Zhao, Tiauw Hiong Go · 2010
This paper addresses the application of Model Predictive Control (MPC) approach for the Leader-followers formation flight problem. Under the robust decentralized unified MPC framework, the current collision avoidance scheme has been extended to take care of any shape and small pop-up obstacles. And in the heterogeneous Leader-follower situation, if the formation error term is added to the Leader's cost function, then the formation will be maintained. The simulation results show that the modified decentralized MPC framework can successfully achieve and keep collision-free formation flights.