کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Multi-Agent Systems for Quadcopter under Nonlinear Dynamics and Actuator Modeling with MPC and LQR Controller

نویسندگان :

Navid Mohammadi¹ Saeed Khankalantary²

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

کلمات کلیدی :

Quadcopter،Nonlinear Dynamics،Multi-Agent Control،Model Predictive Control،Actuator Modeling

چکیده :

This article presents control strategies for coordinating quadcopter fleets. Precise dynamic modeling lays the groundwork for robust control system design. Nonlinear equations representing rigid body motions and aerodynamics are linearized to facilitate controller integration. Two advanced techniques - Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) - are implemented for comparative assessment. While both achieve precise hovering and trajectory tracking, MPC demonstrates superior performance in control smoothness critical for quadcopter maneuvering. The proposed architecture is extended to a four-quadcopter network modeled graph-theoretically. Innovative square formation control combines with dynamic spiral path following for the leader agent. Despite the complexity, tight inter-quadcopter distances validate the multi-agent coordination framework. This research enables easy extension to larger heterogeneous teams by synergizing modeling, graph theory and optimal control