Model Predictive Control for the dynamic encirclement of a target
Encirclement is a tactic that can be employed by a team of UAVs to neutralize a target by restricting its movement. The aim of the UAV team encircling the target is to move close to the target and maintain a formation around the target. In this paper, the problem of creating a dynamic circular forma...
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| creator | Marasco, A. J. Givigi, S. N. Rabbath, C. A. |
| description | Encirclement is a tactic that can be employed by a team of UAVs to neutralize a target by restricting its movement. The aim of the UAV team encircling the target is to move close to the target and maintain a formation around the target. In this paper, the problem of creating a dynamic circular formation around a target is considered, and a Decentralized Model Predictive Control (DMPC) policy is formulated. It is shown through simulation results that the derived MPC policy is effective for the case of a single UAV encircling a stationary target, a single UAV encircling a moving target, and a group of UAVs encircling a stationary target. The contributions of this paper are the application of MPC to the problem of encirclement, and the explicit objective of a dynamic circular formation around the target. |
| doi_str_mv | 10.1109/ACC.2012.6315602 |
| format | Conference Proceeding |
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The contributions of this paper are the application of MPC to the problem of encirclement, and the explicit objective of a dynamic circular formation around the target.</description><subject>Acceleration</subject><subject>Cost function</subject><subject>Nonlinear Model Predictive Control</subject><subject>Predictive control</subject><subject>Steady-state</subject><subject>Turning</subject><subject>Unmanned Aerial Vehicles</subject><subject>Vectors</subject><subject>Vehicle dynamics</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>9781457710957</isbn><isbn>1457710951</isbn><isbn>9781467321020</isbn><isbn>9781457710940</isbn><isbn>1467321028</isbn><isbn>1457710943</isbn><isbn>9781457710964</isbn><isbn>145771096X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkEtLxDAUheMLrOPsBTf5A633JmnSLEvxBSO60PWQprca6UPSIMy_d8CuzuLwHT4OYzcIBSLYu7ppCgEoCi2x1CBO2NaaCpU2UiAIOGWZkKbKy0rj2dqVxhzR0pyzDIySOWq0l-xqWb4B0FoNGatf5o4G_hapCz6FX-LNPKU4D7yfI09fxLvD5MbgOU0-RD_QSFPic88dTy5-UrpmF70bFtquuWEfD_fvzVO-e318bupdHtCUKXcG2lJVLTpphPIOrUfqeiW87pxXPVVOkIJWApJVR2tQbYeu1QYFaifkht3-7wYi2v_EMLp42K9vyD_SGE3E</recordid><startdate>201206</startdate><enddate>201206</enddate><creator>Marasco, A. J.</creator><creator>Givigi, S. N.</creator><creator>Rabbath, C. A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201206</creationdate><title>Model Predictive Control for the dynamic encirclement of a target</title><author>Marasco, A. J. ; Givigi, S. N. ; Rabbath, C. 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A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Marasco, A. J.</au><au>Givigi, S. N.</au><au>Rabbath, C. 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In this paper, the problem of creating a dynamic circular formation around a target is considered, and a Decentralized Model Predictive Control (DMPC) policy is formulated. It is shown through simulation results that the derived MPC policy is effective for the case of a single UAV encircling a stationary target, a single UAV encircling a moving target, and a group of UAVs encircling a stationary target. The contributions of this paper are the application of MPC to the problem of encirclement, and the explicit objective of a dynamic circular formation around the target.</abstract><pub>IEEE</pub><doi>10.1109/ACC.2012.6315602</doi><tpages>6</tpages></addata></record> |
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| issn | 0743-1619 2378-5861 |
| language | eng |
| recordid | cdi_ieee_primary_6315602 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Acceleration Cost function Nonlinear Model Predictive Control Predictive control Steady-state Turning Unmanned Aerial Vehicles Vectors Vehicle dynamics |
| title | Model Predictive Control for the dynamic encirclement of a target |
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