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Tesi etd-01242017-150412


Thesis type
Tesi di laurea magistrale
Author
BARBANERA, DAVIDE
URN
etd-01242017-150412
Title
MPC-LTV per il controllo leader-follower distribuito di una formazione di UAV
Struttura
INGEGNERIA CIVILE E INDUSTRIALE
Corso di studi
INGEGNERIA AEROSPAZIALE
Commissione
relatore Prof. Galatolo, Roberto
correlatore Ing. Schettini, Francesco
correlatore Prof. Denti, Eugenio
correlatore Ing. Di Rito, Gianpietro
Parole chiave
  • Linear Time Varying
  • Model Predictive Controller
  • MPC LTV
  • leader follower
  • collision avoidance
  • formation
  • UAV
Data inizio appello
21/02/2017;
Consultabilità
completa
Riassunto analitico
The focus of present work is the development of a formation control algorithm for small RUAV (rotary-wing unmanned aerial vehicle).<br>We considered a leader-follower hierarchical structure, where one of the vehicles flies independently and the others try to acquire and hold a required position in the formation, ensuring at each time a relative safety distance.<br>The aim has been achieved through a distributed MPC-LTV (Model Predictive Control) where the followers are able to plan autonomously there control action, on the basis of the information exchanged between UAVs. <br>The uncommon choice of Model Predictive Control has proved successful for its ability to obtain control action by a cyclic optimization process, performed along a finite time horizon.<br>In the optimization process we explicitly considered the future dynamics of the RUAV and a complementary set of constraints for the problem, where the main point is represented by the requirement of collision avoidance.<br>Some simulations were conducted to verify the effectiveness of the developed strategy, paying particular attention on situations that may be critical for collisions.
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