Receding Horizon Control of UAV Formations
Song Han · Electronics Optics & Control · 2012
Receding Horizon Control was appealing in formation control for its outstanding features:dealing with state and/or input constraint,multiple goals integration,flexibility to condition change,etc.Formation control of UAVs involved formation description,aerodynamic coupling,relative position description,control law,etc.The loose formation control with leader-follower description was widely used in practice,and a Receding Horizon Control(RHC) law was proposed for this issue,which was described by Quadratic Programming.A formation controller based on standard RHC was designed.Furthermore,a dual-mode RHC controller with invariant set theory was also designed,and its shortage and instruction was discussed.Simulation results demonstrated the effectiveness of the control law,and the effects of parameters were analyzed.