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Nasiri, A., Kashaninia, A., Vali, A. (2022). Formation Control of Flying Robots Using Constrained Model Predictive Control While Tracking of Moving Target in Presence of Obstacles. Electronic and Cyber Defense, 18(4), 29-47.
Ahmad Nasiri; Abdorreza Kashaninia; Ahmad Reza Vali. "Formation Control of Flying Robots Using Constrained Model Predictive Control While Tracking of Moving Target in Presence of Obstacles". Electronic and Cyber Defense, 18, 4, 2022, 29-47.
Nasiri, A., Kashaninia, A., Vali, A. (2022). 'Formation Control of Flying Robots Using Constrained Model Predictive Control While Tracking of Moving Target in Presence of Obstacles', Electronic and Cyber Defense, 18(4), pp. 29-47.
Nasiri, A., Kashaninia, A., Vali, A. Formation Control of Flying Robots Using Constrained Model Predictive Control While Tracking of Moving Target in Presence of Obstacles. Electronic and Cyber Defense, 2022; 18(4): 29-47.

Formation Control of Flying Robots Using Constrained Model Predictive Control While Tracking of Moving Target in Presence of Obstacles

مکانیک هوافضا
Article 3, Volume 18, Issue 4 - Serial Number 70, December 2022, Pages 29-47    PDF (2.07 M)
Document Type: Dynamics, Vibrations, and Control
Authors
Ahmad Nasiri1; Abdorreza Kashaninia* 2; Ahmad Reza Vali3
1Ph.D. Student, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran
2Corresponding author: Assistant Professor, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran
3Associate Professor, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran
Receive Date: 12 July 2022,  Revise Date: 15 August 2022,  Accept Date: 28 September 2022 
Abstract
In this article, using the constrained predictive controller, the tracking of a moving target by a group of flying robots while controlling the group arrangement is presented. The maintenance and control of the group arrangement is based on position control with the assumption of decentralized architecture and leader-follower communication structure between the agents. Target tracking is done by the group leader and the followers are responsible for tracking the group leader. The leader of the group constantly sends the current position and the estimate of his position in the next steps to the followers to use it to calculate the optimal current position and the next moments. In the following, rewriting the constraints of the problem, such as ensuring that the distance is maintained and that the followers do not collide with the group leader, and the limitations of inputs and their changes on all members of the group, as well as providing an innovative geometric method for crossing obstacles and systematically applying all of them in the control process. has been Simulations are presented for a group of five flying robots that seek to intercept a moving ground target while maintaining the formation of the group. The results show that the controller has a good resistance to the disturbances in the group's movement path and the group interception is carried out in a favorable way. Predicting the movement path of the moving target and using it in the design of the predictive controller also improves and smooths the movement path of the group.
Keywords
Formation control; Constrained model predictive control; Decentralized control; Moving target tracking
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