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- W4378220299 abstract "Abstract A system of fast moving quadcopters has a high risk of collisions with neighboring quadcopters or obstacles. The objective of this work is to develop a control strategy for collision and obstacle avoidance of multiple quadcopters. In this paper, the problem of distributed dynamic matrix control (DMC) for collision avoidance among a team of multiple quadcopters attempting to reach consensus in the horizontal plane and yaw direction ( , and ) is investigated. Violations of a predetermined safety radius generates output constraints on the DMC optimization function, which has not been dealt with in the literature. Different from past works, the proposed strategy can perform collision avoidance in the , , and ‐directions. In addition, logarithmic barrier functions are implemented as input rate constraints on the control actions. Extensive simulation studies for a team of quadcopters illustrate promising results of the proposed control strategy and case variations. In addition, DMC parameter effects on the system performance are studied, and a successful study for obstacle avoidance is presented." @default.
- W4378220299 created "2023-05-26" @default.
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- W4378220299 date "2023-05-25" @default.
- W4378220299 modified "2023-10-14" @default.
- W4378220299 title "Distributed dynamic matrix control with constrained optimization for collision and obstacle avoidance of simulated multiple quadcopters" @default.
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- W4378220299 doi "https://doi.org/10.1002/asjc.3120" @default.
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