UAVs formation guidance using nonlinear model predictive control = NMPC를 이용한 무인 항공기 편대비행 유도

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In this thesis, Nonlinear Model Predictive Control (NMPC) for formation guidance and control of a UAV is addressed. There are some problems that degrade performance of the NMPC for formation. Therefore, the modification of proposed NMPC is addressed to overcome the problems. An NMPC algorithm predicts the behavior of the system including possibility of collision over some horizon firstly. Next, NMPC generates optimal control input for the horizon in consideration of collision avoidance using gradient-descent method. This procedure is repeated in every step. Since the whole system performance is considered in the cost of NMPC, trajectory optimization for path planning can be avoided. In addition, the proposed method handles easily input saturation and state constraints. Computation time of this approach is faster and computation load is smaller than some other optimal control due to these reasons. Thus, proposed method in this thesis can be applied to UAVs formation in real time.
Advisors
Tahk, Min-Jearesearcher탁민제researcher
Description
한국과학기술원 : 항공우주공학전공,
Publisher
한국과학기술원
Issue Date
2006
Identifier
255352/325007  / 020043305
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2006.2, [ v, 43 p. ]

Keywords

충돌회피; 편대비행; Nonlinear Model Predictive Control; Formation; UAV; Collision Avoidance; 무인항공기

URI
http://hdl.handle.net/10203/26981
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=255352&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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