Nonlinear Receding-Horizon Differential Game of a Multicopter and a Moving Object

Nonlinear Receding-Horizon Differential Game of a Multicopter and a Moving Object

In this paper, we consider a target tracking problem of a multicopter. The target is assumed to move along a path that is unknown for the multicopter. We formulate this problem as a nonlinear receding-horizon differential game problem and solve the problem with a real-time algorithm for nonlinear mo...

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Veröffentlicht in:Shisutemu Seigyo Jouhou Gakkai rombunshi Control and Information Engineers, 2018/04/10, Vol.31(4), pp.150-157
Hauptverfasser: Hirota, Kazuki, Satoh, Yasuyuki, Motooka, Norizumi, Asano, Yuta, Kameoka, Shota, Ohtsuka, Toshiyuki
Format: Artikel
Sprache:eng ; jpn
Schlagworte:
Algorithms
Computer simulation
differential game
Differential games
Game theory
Moving object recognition
multicopter
Nonlinear control
nonlinear model predictive control
Predictive control
tracking control
Tracking problem
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Beschreibung
Zusammenfassung:In this paper, we consider a target tracking problem of a multicopter. The target is assumed to move along a path that is unknown for the multicopter. We formulate this problem as a nonlinear receding-horizon differential game problem and solve the problem with a real-time algorithm for nonlinear model predictive control. Some simulation results show a satisfactory tracking performance of the proposed method.
ISSN:1342-5668
2185-811X
DOI:10.5687/iscie.31.150