کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

Switched Robust Model Predictive Based Controller for UAV Swarm System

نویسندگان :

Erfan Nejabat¹ Amirhossein Nikoofard²

1- دانشگاه صنعتی خواجه نصیرالدین طوسی 2- دانشگاه صنعتی خواجه نصیرالدین طوسی

کلمات کلیدی :

Model Predictive Control, Robust, Tube MPC, External disturbances

چکیده :

The formation decentralized control problem for multi-agent system with leader-follower consensus is investigated. MPC controller is proposed for trajectory tracking of the system. In order to increase the robustness of the system, a tube MPC theory is suggested in this paper. The swarm should track the predefined reference trajectory in an acceptably organized manner. The closed- loop multi-agent response is investigated in the presence of external bounded disturbances. Hybrid controller is designed for the noted system in order to overcome the external noise effects on path tracking of the closed loop swarm problem. The controller is designed to switch knowingly between the tube MPC and primary conventional MPC controllers. The robustness of switching multi-agent system is investigated under unexpected external noises for multi-agent system. The simulation results demonstrate that the solution remains optimal also the proposed control structure can satisfactorily deal with noted external disturbances and noise.