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.

لیست مقالات

لیست مقالات بایگانی شده

Finite-time consensus of multi-agent systems via event-triggered control

Mehdi Zamanian - Farzaneh Abdollahi - Seyyed Kamaleddin Yadavar Nikravesh

Application of Metaheurestic Optimization Algorithms for Feature Selection in Text Classification

Elham Nazari - Nafise Haghshenas - Alireza Basiri - Mohammad Reza Ahmadzadeh

Delay Independent Controller Design for Delayed Discrete Singular Systems with Input Saturation

Emad Jafari - Tahereh Binazadeh

Bidirectional DISO DC-DC Converter Based on Fixed-Frequency Sliding Mode Control Strategy

Amirhosein Hoseini - Saeed Hosseinnattaj - Jafar Adabi

مدلسازی ترانسفورماتورهای کم تلفات در شرایط عملکرد غیرعادی و بررسی تأثیر آن ها بر تلفات فنی شبکه قدرت

محمدرضا موسوی خادمی - غلامرضا زارع پلکوئی - مرتضی موسوی خادمی

مدل سازی ریزالور دو درجه آزادی خطی با استفاده از تابع سیم‌پیچی اصلاح شده

فرید توتونچیان - رضا فریادرس

Community Energy Management Using MARL: Synergy of Price-Based and Incentive-Based Demand Response

Mohammad Hashemnezhad - Hamed Delkhosh - Ahmad Shahabi - Mohsen Parsa Moghaddam

Multi-Objective Particle Swarm Optimization Of Spiral Antenna for Microwave Imaging Applications

Mehdi Yousefnia - Jaber Allahgholipor - Ataollah Ebrahimzadeh

The effect of metal rods in a hybrid plasmonic-photonic crystal cavity design

Leila Hajshahvaladi - Hassan Kaatuzian - Mohammad Danaie - Amirhossein Abdollahi Nohiji

Innovative Pathway Optimization for Autonomous Drones in Urban Landscapes Using Integrated Techniques

Seyed Ahmad Abtahi - M.A. Amiri Atashgah - Bahram Tarvirdizadeh - Mohammad Habashiniak

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0