Distributed receding horizon control for rotating wings unmanned aerial vehicles: a time-varying topology strategy
Giuseppe Franzè, Walter Lúcia, Babak Rahami · 2018
In this paper a distributed constrained control architecture is developed to address the obstacle avoidance problem for rotating wings unmanned aerial vehicles. The proposed strategy aims at achieving a flexible formation whose topology can be properly reorganized whenever narrowed corridors are accessible. This reasoning is translated into a computable procedure by resorting to model predictive control (MPC) ideas that allow to efficiently manage model uncertainties and physical constraints.