M. Saffarian∗ and F. Fahimi∗
Formation control, nonlinear model predictive control, autonomous helicopter, formation schemes
In this paper, a framework for control of general helicopter for- mations is presented. The framework is constructed using two main control schemes for navigation of a helicopter group in three- dimensional (3D) formations. These schemes utilize geometrical parameters of the formation layout to maintain the position of the group members with respect to each other. Any 3D formation grid of helicopters can be defined by using these blocks as construction units. Using the defined geometrical formation parameters, two decentralized controllers are designed based on the Nonlinear Model Predictive Control (NMPC) method. The feasibility of the real-time implementation of the developed controller is discussed. Also, dis- turbance rejection and robustness to parameter uncertainty of the controllers are shown by simulations.
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