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In this paper, multi-vehicle formation control with collision avoidance based on model predictive control (MPC) is proposed. Since there exist the uncertainty arise from the localization in the real environments, it is difficult to guarantee collision avoidance among vehicles by the standard MPC based methods. Furthermore, since MPC based methods can only consider collision avoidance at discrete time...
In this paper, operator based nonlinear control system design is studied by using robust right coprime factorization. Proposed control system does not guarantee perfect tracking, but upper bound of tracking error is estimated and a condition for the controller to reduce the error within an arbitrarily small bound is derived based on the generalized H. S. Black formula. A control system for a nonlinear...
This paper focuses on how to design autonomous flight control systems taking into account input constraints due to actuator saturations and output limitations from the viewpoint of security. Model predictive control (MPC) is one of the most systematic ways to handle such constraints. To implement MPC, we first construct a simple linear model connected to a deadzone nonlinearity based on experimental...
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