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International Journal of Aerospace Engineering
Volume 2011, Article ID 157590, 13 pages
Research Article

Robust Decentralized Formation Flight Control

School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798

Received 30 March 2011; Revised 29 June 2011; Accepted 4 July 2011

Academic Editor: N. Ananthkrishnan

Copyright © 2011 Zhao Weihua and Tiauw Hiong Go. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Motivated by the idea of multiplexed model predictive control (MMPC), this paper introduces a new framework for unmanned aerial vehicles (UAVs) formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.