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http://cimat.repositorioinstitucional.mx/jspui/handle/1008/1106| DISTRIBUTED MODEL PREDICTIVECONTROL FOR FORMATION OFQUADROTORS | |
| Salim Vargas | |
| Acceso Abierto | |
| Atribución-NoComercial | |
| COMPUTACIÓN MATEMÁTICAS INDUSTRIALES | |
| his thesis addresses the problem of controlling, in a distributed way, a group of quadrotors connected along a specified graph, to achieve a desired formation while giving some guarantee on both collision avoidance and connectivity maintenance. Model Predictive Control (MPC) is used to solve the problem. It allows to anticipate the future state of each quadrotor and gives flexibility to consider constraints relative not only to the evasion and connectivity between agents, but also to the environment, such as dimensions of the space where the quadrotors can move. Formation control is addressed as a consensus problem among virtual agents. Two techniques have been explored: The first one generates trajectories for consensus and tracks them using MPC; the second one introduces directly the local consensus error in the MPC cost function. For obstacle avoidance and connectivity maintenance, we have evaluated hard and/or soft constraints in the MPC. Furthermore, both decentralized (agents sharing their position among neighbors) and distributed (agents sharing both position and velocity) architectures have been studied. Based on our simulation results, the best strategy resulted on using the local consensus error directly in the MPC cost function, with both hard and soft constraints for obstacle avoidance and connectivity maintenance, all of this inside a distributed control architecture. We illustrate the benefits of our approach in both realistic simulations and real experiments with quadrotors. | |
| 01-12-2020 | |
| Trabajo de grado, maestría | |
| OTRAS | |
| Versión aceptada | |
| acceptedVersion - Versión aceptada | |
| Aparece en las colecciones: | Tesis del CIMAT |
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| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| TE 815.pdf | 6.29 MB | Adobe PDF | Visualizar/Abrir |