Adaptive boundary prescribed-performance MPC for 3-D UAV formation with obstacle/collision avoidance
Chengzhen Yu, Kairui Chen, C.L. Philip Chen, Zhi Liu, Jianhui Wang · Systems & Control Letters · 2025
This brief aims to address the contradiction between prescribed performance constraint and the obstacle/collision avoidance for the multiple unmanned aerial vehicles. Firstly, a prescribed-time performance function with adaptive slack variable is proposed to improve the prescribed performance strategy, prioritizing safety while detecting obstacles or neighbor unmanned aerial vehicles. Based on the proposed performance function, a homeomorphic transformation is applied to restrict the formation error within a certain range, mitigating undesired overshoot. By introducing avoidance function into the cost function, a model predictive control framework based formation algorithm is designed for unmanned aerial vehicles to avoid obstacle/collision in 3-D scenarios.