Distributed Formation Control with Obstacle and Collision Avoidance for Hypersonic Gliding Vehicles Subject to Multiple Constraints
Algorithm 1
Distributed model predictive control algorithm.
Offline stage: for , provided ,,,,,,, and , determine ,,, and . is delivered into mapped system (16).
Online stage: at the initial time step when the current time is , wait for the initial optimal control inputs ,, and the initial optimal states ,, for HGV . There are four steps at online stage as follows:
Step 1. At time step , for HGV . Apply to compute the assumed control inputs together with the assumed states ,, by Eqs. (18) and (20). Then, transmit ,, to HGV and receive ,, from HGV .
Step 2. At the next time step ,, for HGV , the current states are sampled to compute ,,,, and . Then, Problem 6 is solved to get the optimal control inputs ,, and the optimal states ,.
Step 3. Apply and for the passing of virtual signals between the distributed virtual controller and the actual input solver.
