Recurrent Neural Network-Based Model Predictive Control for Multiple Unmanned Quadrotor Formation Flight

Boyang Zhang, Xiuxia Sun, Shuguang Liu, Xiongfeng Deng
2019 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, an
more » ... updating law is developed to tune weights online for the RNN. Besides, the adaptive differential evolution (DE) algorithm is utilized to solve the optimization problem for MPC. Furthermore, the closed-loop stability is analyzed; meanwhile, the convergence of the DE algorithm is discussed as well. Finally, some simulation examples are provided to illustrate the validity of the proposed control structure.
doi:10.1155/2019/7272387 fatcat:gkjbq3yol5dijgmhmmgi7inove