Switching tube model predictive based controller design for multi‐agent unmanned aerial vehicle system with hybrid topology

Abstract

AbstractThe decentralized control is provided for the multi‐agent unmanned aerial vehicle system and is designed based on leader‐follower configuration by graph theory. Next, primary model predictive control (MPC) is proposed in order to steer the error signal to the origin and specifically, an optimization algorithm is considered for the primary MPC controller in which the Newton optimization with back‐stepping step size definition is proposed for this manner. A robust modification is investigated for the system based on tube definition and considered to overcome the high‐frequency noise and external disturbances in a bound of 20% of the system output. The high‐frequency noises are designed outside of the primary controller band‐width. The hybrid controller is proposed for the system. The closed‐loop swarm system's control architecture, switches between the primary MPC controller to tube‐MPC controller in the presence of high‐frequency noises and external disturbances. The hybrid controller provides a more energy‐efficient outcome compared to the single mode controller. The final results provides a 7% faster simulation time. Afterward, the flexible formation theory is generalized for system. The possibility of changing leader is investigated in flexible formation and a scenario of switching leader is proposed for the system. The result of tracking for the controller is compared to proportional‐integral‐derivative and the problem of four agents in a flight scenario illustrates the issues and the comparison between the robust controller and the switching Tube‐MPC controller is provided. The results provide that the novel control architecture has a 47.6% lower rise time and 30.8% lower overshoot.