Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight
This paper presents a dynamical recurrent neural network- (RNN-) based model predictive control (MPC) structure for the formation flight of multiple unmanned quadrotors. A distributed hierarchical control system with the translation subsystem and rotational subsystem is proposed to handle the format...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/7272387 |
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| _version_ | 1850209346242215936 |
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| author | Boyang Zhang Xiuxia Sun Shuguang Liu Xiongfeng Deng |
| author_facet | Boyang Zhang Xiuxia Sun Shuguang Liu Xiongfeng Deng |
| author_sort | Boyang Zhang |
| collection | DOAJ |
| description | This paper presents a dynamical recurrent neural network- (RNN-) based model predictive control (MPC) structure for the formation flight of multiple unmanned quadrotors. A distributed hierarchical control system with the translation subsystem and rotational subsystem is proposed to handle the formation-tracking problem for each quadrotor. The RNN-based MPC is proposed for each subsystem, where the RNN is introduced as the predictive model in MPC. And to improve the modeling accuracy, an adaptive updating law is developed to tune weights online for the RNN. Besides, the adaptive differential evolution (DE) algorithm is utilized to solve the optimization problem for MPC. Furthermore, the closed-loop stability is analyzed; meanwhile, the convergence of the DE algorithm is discussed as well. Finally, some simulation examples are provided to illustrate the validity of the proposed control structure. |
| format | Article |
| id | doaj-art-91da2fc175c44e75bc4fd888fb034dcf |
| institution | OA Journals |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-91da2fc175c44e75bc4fd888fb034dcf2025-08-20T02:10:02ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/72723877272387Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation FlightBoyang Zhang0Xiuxia Sun1Shuguang Liu2Xiongfeng Deng3Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi’an 710051, ChinaEquipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi’an 710051, ChinaEquipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi’an 710051, ChinaEquipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi’an 710051, ChinaThis paper presents a dynamical recurrent neural network- (RNN-) based model predictive control (MPC) structure for the formation flight of multiple unmanned quadrotors. A distributed hierarchical control system with the translation subsystem and rotational subsystem is proposed to handle the formation-tracking problem for each quadrotor. The RNN-based MPC is proposed for each subsystem, where the RNN is introduced as the predictive model in MPC. And to improve the modeling accuracy, an adaptive updating law is developed to tune weights online for the RNN. Besides, the adaptive differential evolution (DE) algorithm is utilized to solve the optimization problem for MPC. Furthermore, the closed-loop stability is analyzed; meanwhile, the convergence of the DE algorithm is discussed as well. Finally, some simulation examples are provided to illustrate the validity of the proposed control structure.http://dx.doi.org/10.1155/2019/7272387 |
| spellingShingle | Boyang Zhang Xiuxia Sun Shuguang Liu Xiongfeng Deng Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight International Journal of Aerospace Engineering |
| title | Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight |
| title_full | Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight |
| title_fullStr | Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight |
| title_full_unstemmed | Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight |
| title_short | Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight |
| title_sort | recurrent neural network based model predictive control for multiple unmanned quadrotor formation flight |
| url | http://dx.doi.org/10.1155/2019/7272387 |
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