Multi-UAV DMPC Cooperative Guidance with Constraints of Terminal Angle and Obstacle Avoidance

Algorithm 3

DMPC cooperative guidance scheme.

Offline stage: For each UAV , give (initial) sampling period , control horizon , maximum data size of the observation data , weighting scalars for stage cost: , , weighting scalars for terminal cost: , , , scalars for terminal set constraint and compatibility constraint: , , , and parameters for auxiliary controller: , . Those scalars or parameters are supposed to satisfy assumption 12.

Online stage: At the initial time , each UAV sets as and as , initializes the observation data for the target as , sends to the neighbors and receives from them, .

  (I) At sampling instant , , for each UAV

    (a) predict , using the method proposed in section 3.1.

    (b) compute according to (23), (24).

    (c) solve optimization problem 14 using algorithm 2, to obtain , .

  (II) Over time interval , for each UAV

    (a) implement the real-time guidance command , and sample the system states.

    (b) update the observation data, by adding . If there is , then delete .

    (c) calculate the assumed control inputs and the corresponding state trajectories, , according to (19), (51), (52), and (20).

    (d) sends to and receives from ,

  (III) Return to (I), update and using (94) and (95). If the updated is smaller than the preset one, then stop control and sample system states at .