Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC
Algorithm 1
The steps for solving the optimization problem 2.
Offline initialization parameters: Select the sampling period and the prediction horizon . For UAV , given the weight parameters and , and the desired vector , determine in the terminal cost function.
Online solving:
(i)
Provide initial optimal control input and initial optimal state ,.
(ii)
Step 1: sample the current state and obtain the assumed position ,,.
Step 2: solve optimization problem 2 and use ,, and during the solution process to simultaneously solve optimization problem 1, ultimately obtaining the optimal control input sequence ,, selecting , and also obtaining the corresponding of the optimal solution.
Step 3: calculate the assumed state using equations (3) and (6), and send to UAV .
