Multi-Objective Decentralized Model Predictive Control for Cooperative Multi-UAV Systems
Omar Ilaya · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2007
[Abstract] In this paper, a theoretical framework for multi-vehicle control is presented. The multi-vehicle control problem was considered from two levels of abstraction; a highlevel supervisory control perspective and a local vehicle guidance, navigation and control problem. The collective flock was modeled using geometric methods. A Lie group structure was observed over the collective flock, and a left invariant Riemannian metric and geodesic was identified. A decentralized control scheme based on decentralized model predictive control was then introduced at the vehicle level to synthesize cooperative and self-organized behavior. Neighboring vehicles were coupled together via non-separable cost functions and artificial potential-based consensus protocols. The guidance, navigation and control problem was then reduced to a multi-objective trajectory tracking and consensus problem. Numerical simulations were used to illustrate the self-organized and cooperative behavior of the proposed control system. Preliminary results demonstrated optimal, closed-loop stable, and self-organized behavior.