2014
DOI: 10.9746/jcmsi.7.347
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Collision-Free Guidance Control of Small Unmanned Helicopter Using Nonlinear Model Predictive Control

Abstract: In this study, our aim is to realize collision-free guidance control for a small unmanned helicopter. The simultaneous flight of multiple small unmanned helicopters has recently attracted considerable attention for practical operation because of the high efficiency and fault tolerance capability. Collision avoidance should be considered in the guidance system of small helicopters to realize simultaneous flight. The authors adopted nonlinear model predictive control (NMPC) to design a collision-free guidance co… Show more

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Cited by 15 publications
(6 citation statements)
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References 20 publications
(17 reference statements)
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“…How to guarantee the tracking performance of presupposed reference trajectory based on the safety requirements under path constraints needs to be further studied. The authors in [30] adopted the MPC method to accomplish the collision avoidance for the UAH. Employing the dynamic surface control (DSC) technique, the authors used a barrier Lyapunov function to prove the stability for an ammunition manipulator electrohydraulic system in [31].…”
Section: Introductionmentioning
confidence: 99%
“…How to guarantee the tracking performance of presupposed reference trajectory based on the safety requirements under path constraints needs to be further studied. The authors in [30] adopted the MPC method to accomplish the collision avoidance for the UAH. Employing the dynamic surface control (DSC) technique, the authors used a barrier Lyapunov function to prove the stability for an ammunition manipulator electrohydraulic system in [31].…”
Section: Introductionmentioning
confidence: 99%
“…Many SAA planning and control schemes have been proposed and validated. 21,22 In ref. [21], a dynamic path planning method of UAV was presented to avoid not only static threats but also mobile threats.…”
Section: Introductionmentioning
confidence: 99%
“…In ref. [22], a collision-free guidance control system was designed by using nonlinear model predictive control (NMPC) for small unmanned helicopters and the collision avoidance was regarded as a state constraint in controller design. In ref.…”
Section: Introductionmentioning
confidence: 99%
“…23,24 Apart from linear MPC, nonlinear model predictive control (NMPC) is also gaining popularity on account of its ability to deal with the systems in which the nonlinearities are also excited. NMPC, although previously considered very computationally demanding, has been applied to numerous UAVs, including quadcopters with a heavy slung load, 25,26 a small unmanned helicopter for collision-free guidance control 27 and a more complicated planar vertical takeoff and landing (PVTOL) aircraft. 28 Apart from trajectory tracking, NMPC has also been incorporated in path planning applications of UAVs.…”
Section: Introductionmentioning
confidence: 99%