05.2 - Flight Dynamics and Control (UAV related)
MODEL PREDICTIVE CONTROL FOR A SWARM OF FIXED WING UAVS
M. Ariola¹, M. Mattei², E. D\\\'Amato², I. Notaro², G. Tartaglione¹; ¹University of Naples ‘’Parthenope’’, Italy ;²Second University of Naples, Italy
This paper describes an algorithm for the control of a swarm of UAVs based on decentralized MPC. For each UAV, a 6-DOF model is used. The algorithms allows us to include moving obstacles and constraints on the minimum distance between the vehicles. Validation of the approach is obtained by means of simulations in a realistic scenario