Robust formation control applying model predictive control to multi agent system by sharing disturbance information with UAVs
Kentaro Akiyama, Kazuma Sekiguchi, Kenichiro Nonaka · 2016
A safety technology about unmanned aerial vehicles(UAVs) attracts a lot of attention. This paper presents a robust formation control method for multi agent system (MAS) to suppress the influence of disturbance and maintain the formation robustly by sharing the disturbance information. This paper estimates the disturbance by the disturbance observer. UAVs share these disturbance information using network of MAS. The inputs are calculated by model predictive control(MPC) that predicts the future motion of each UAV considering a shared disturbance information. UAVs share the disturbance information and the future motion of UAVs predicted by MPC using network of MAS. The proposed method achieves the robust formation control to consider these future information in MPC. This paper verifies the validity of proposed method via simulation.