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Event-triggered Asynchronous Distributed MPC for Multi-Quadrotor Systems with Communication Delays
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  • Chun Liu,
  • Yupeng Shu,
  • Liang Xu,
  • Yihuan Jin,
  • Guijia Xu,
  • Kuan Li,
  • Hongtian Chen
Chun Liu
Shanghai University

Corresponding Author:chun_liu@shu.edu.cn

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Yupeng Shu
Shanghai University
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Liang Xu
Shanghai University
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Yihuan Jin
SAST Shanghai Spaceflight Precision Machinery Institute
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Guijia Xu
SAST Shanghai Spaceflight Precision Machinery Institute
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Kuan Li
SAST Shanghai Spaceflight Precision Machinery Institute
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Hongtian Chen
Shanghai Jiao Tong University
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Abstract

This paper investigates the formation composition and keeping problem for multi-quadrotor systems under time-varying communication delays. First, a distributed model predictive control (MPC) approach is employed to transform the formation composition and keeping of multi-quadrotor systems into an online rolling optimization issue, accompanied by the event-triggered mechanism to reduce solution frequency and communication load. Second, to address the asynchrony and time-varying communication delays introduced by event-triggered distributed MPC, a set of constraints is designed to restrict deviations between the current predictive state and previously broadcasted states. Consequently, based on the previously predicted states of neighbors, the cooperation of the multi-quadrotor systems is achieved under asynchronous communication and time-varying delays. This approach guarantees robust asymptotic stability and satisfactory formation performance for multi-quadrotor systems under various delay scenarios. Finally, the numerical and software-in-the-loop (SIL) simulations validate the effectiveness of the proposed algorithm of multi-quadrotors under communication delays.
Submitted to International Journal of Robust and Nonlinear Control
15 Mar 2024Review(s) Completed, Editorial Evaluation Pending
23 Mar 2024Reviewer(s) Assigned
07 May 2024Editorial Decision: Revise Minor
17 Jun 20241st Revision Received