NDLI: Control of helicopters’ formation using non-iterative Nonlinear Model Predictive approach

Content Provider	IEEE Xplore Digital Library
Author	Saffarian, M. Fahimi, F.
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Alberta, Edmonton, AB (Saffarian, M.; Fahimi, F.)
Abstract	A non-iterative nonlinear model predictive controller (NMPC) for formation control of helicopters is proposed and validated through simulations. The method is based on minimizing the error of geometrical formation parameters specifically designed for helicopters. These parameters are used to form desired three-dimensional (3D) configurations among members of a helicopter group. This approach is tested for both initializing and maintaining the desired formation. Also, simulation has been conducted considering the presence of environmental disturbances and model uncertainties. Compared to the similar approaches, the method has a substantially smaller computational cost. In addition, it is shown that unlike the conventional NMPC optimization methods, the presented framework does not require any iteration. This method inherently possesses the same computational cost for all the time steps throughout the whole time period of the flight scenario. These features make this framework a suitable choice for implementation for formation control of helicopter groups.
Starting Page	3707
Ending Page	3712
File Size	468109
Page Count	6
File Format	PDF
ISBN	9781424420780
ISSN	07431619
DOI	10.1109/ACC.2008.4587070
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Predictive models Helicopters Control systems Mobile robots Computational efficiency Nonlinear control systems Optimization methods Vehicles Predictive control Nonlinear systems
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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