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Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight
International Journal of Aerospace Engineering
This paper presents a dynamical recurrent neural network- (RNN-) based model predictive control (MPC) structure for the formation flight of multiple unmanned quadrotors. A distributed hierarchical control system with the translation subsystem and rotational subsystem is proposed to handle the formation-tracking problem for each quadrotor. The RNN-based MPC is proposed for each subsystem, where the RNN is introduced as the predictive model in MPC. And to improve the modeling accuracy, andoi:10.1155/2019/7272387 fatcat:gkjbq3yol5dijgmhmmgi7inove