Distributed Sensor-Tolerant MPC for Formation Tracking of Networked Multicopters with Input/State Constraints

This brief presents a novel model predictive control (MPC) algorithm to achieve formation tracking of networked multicopters (nodes) with sensor faults and physical constraints. The algorithm can be used to asymptotically form and maintain a user-defined three-dimensional pattern for the multicopter...

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Veröffentlicht in:	IEEE transactions on circuits and systems. II, Express briefs Express briefs, 2023-12, Vol.70 (12), p.1-1
Hauptverfasser:	Liu, Si-Sheng, Ge, Ming-Feng, Ding, Teng-Fei, Liu, Zhi-Wei, Dong, Xiao-Gang, Liang, Chang-Duo
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Asymptotic properties Circuit faults Constraint modelling Cost function Fault detection Fault tolerance Fault tolerant systems Faults formation tracking Germanium Global Positioning System Global positioning systems GPS Inertial navigation model predictive control (MPC) Multicopters Navigation systems Observers physical constraints Prediction algorithms Predictive control Rotary wing aircraft Satellite navigation systems sensor faults Sensors Tracking
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