Non-Iterative nonlinear model predictive approach applied to the control of helicopters' group formation

@article{Saffarian2009NonIterativeNM,
  title={Non-Iterative nonlinear model predictive approach applied to the control of helicopters' group formation},
  author={Mehdi Saffarian and Farbod Fahimi},
  journal={Robotics and Autonomous Systems},
  year={2009},
  volume={57},
  pages={749-757}
}
Two geometrical formation schemes that allow the definition of any desired three-dimensional formation mesh for a group of helicopters are presented. Each formation scheme, which defines the leader–follower geometry of the formation mesh, has four parameters. These formation parameters are directly used as the output of decentralized controllers that independently control each helicopter in the group. The decentralized controllers are designed using a non-iterative Nonlinear Model Predictive… CONTINUE READING